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FUNCTION TS : CityPark_DAE
REFERENCE IND PROJECT PAGE
IASV_COFS08_1020 OR A9 1
THIS DOCUMENT BELONGS TO PSA AND CANNOT BE REPRODUCED OR FORWARDED WITHOUT ITS AGREEMENT
Reference:
IASV_COFS08_1020
Applicable to project:
A9
Application date:
06/05/09
Number of pages: 85
ST City Park function: additional clause to EPS specifications
Subject: This document is an additional clause to EPS specifications that regroups the functions that are required to realize
the CityPark function.
Written by
Name:
Denis PALLIER
Entity:
DITV/IASV/COFS/SARF
Date: Signature:
Checked by
Name:
REVEILLE Tony
LEFRANC Sébastien
Entity:
DITV/IASV/COFS/SARF/MSAF
DRIA/ICEM/SMEE
Date: Signature:
Approved by
Name:
BECKER Nicolas
Entity:
DITV/IASV/COFS/SARF
Date: Signature:
2
UPDATES
Index Date Nature of the modifications
OR 23/07/08 First version
1.0 28/11/08 Temperature and EPS voltage thresholds for a nominal City Park operation function added
2.0 31/03/10 - Release request taken into account when temporarily immobilizing the vehicle:
Requirements FONC-DA_CDC-SCPx-061, FONC-DA_CDC-SCPx-062, FONC-DA_CDC-
SCPx-063, FONC-DA_CDC-SCPx-064, FONC-DA_CDC-SCPx-065 added
- Requirements GEN-SC-DC-[CityPark].0238, GEN-SC-DC-[CityPark].0239, GEN-SC-DC-
[CityPark].0240, GEN-SC-DC-[CityPark].0241, GEN-SC-DC-[CityPark].0242, FONC-
DA_CDC-SCPx-028 deleted
- TORQUE_WHEEL_MINI_SCP6 and TORQUE_WHEEL_MINI_SCP9 become the same
parameter = TORQUE_WHEEL_MINI_SCP
- TORQUE_WHEEL_MAXI_SCP6 and TORQUE_WHEEL_MAXI_SCP9 become the same
parameter = TORQUE_WHEEL_MAXI_SCP
- DURATION_DEACTIVATION_RATE_LIMITATOR_SCP6 and
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP9 become the same parameter =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
- DURATION_ACTIVATION_RATE_LIMITATOR_SCP6 and
DURATION_ACTIVATION_RATE_LIMITATOR_SCP9 become the same parameter =
DURATION_ACTIVATION_RATE_LIMITATOR_SCP
3.0 21/04/10 Requirements:
FONC-DA_CDC-SCPx-056, GEN-SC-DC-[CityPark].0233, GEN-SC-DC-[CityPark].0234,
GEN-SC-DC-[CityPark].0236, GEN-SC-DC-[CityPark].0244, FONC-DA_CDC-SCPx-005,
FONC-DA_CDC-SCPx-006, FONC-DA_CDC-SCPx-007, FONC-DA_CDC-SCPx-008,
FONC-DA_CDC-SCPx-009, FONC-DA_CDC-SCPx-010, FONC-DA_CDC-SCPx-011,
FONC-DA_CDC-SCPx-012, FONC-DA_CDC-SCPx-013, FONC-DA_CDC-SCPx-014,
FONC-DA_CDC-SCPx-015, FONC-DA_CDC-SCPx-016, FONC-DA_CDC-SCPx-017,
FONC-DA_CDC-SCPx-018, FONC-DA_CDC-SCPx-019, FONC-DA_CDC-SCPx-020,
FONC-DA_CDC-SCPx-021, FONC-DA_CDC-SCPx-022, FONC-DA_CDC-SCPx-023,
FONC-DA_CDC-SCPx-024, FONC-DA_CDC-SCPx-025, FONC-DA_CDC-SCPx-026,
FONC-DA_CDC-SCPx-027, FONC-DA_CDC-SCPx-031, FONC-DA_CDC-SCPx-032,
FONC-DA_CDC-SCPx-033, FONC-DA_CDC-SCPx-034, FONC-DA_CDC-SCPx-037,
FONC-DA_CDC-SCPx-038, FONC-DA_CDC-SCPx-039, FONC-DA_CDC-SCPx-040,
FONC-DA_CDC-SCPx-043, FONC-DA_CDC-SCPx-044 modified
Requirements :
FONC-DA_CDC-SCPx-029, FONC-DA_CDC-SCPx-030, FONC-DA_CDC-SCPx-035,
FONC-DA_CDC-SCPx-036 deleted
Requirements:
FONC-DA_CDC-SCPx-066, FONC-DA_CDC-SCPx-067 created
3
TABLE OF CONTENTS
1 SUBJECT .........................................................................................................................................................................6
1.1 Contractual value of the specification...........................................................................................................................6
1.2 Technical proposal of the Automotive Component Manufacturer................................................................................6
1.3 Responsibilities of the Automotive Component Manufacturer.....................................................................................6
1.3.1 Generalities.....................................................................................................................................................6
1.3.2 Responsibility sharing during the development phase....................................................................................6
2 SPECIFICATION PERIMETER...................................................................................................................................7
3 FUNCTIONAL SPECIFICATIONS..............................................................................................................................8
3.1 PROVISIONS AND GENERAL DESCRIPTION OF THE SYSTEM........................................................................8
3.1.1 MAIN FUNCTION: « ENTERING A PARKING SPACE » (SCP6)............................................................8
3.1.2 MAIN FUNCTION: « LEAVING A PARKING SPACE » (SCP9) ..............................................................8
3.1.3 INDUCED FUNCTION: « CONTROL_STEERING WHEEL_CITYPARK» .............................................8
3.1.4 CityPark_EPS activation conditions.............................................................................................................11
3.1.5 City Park_EPS deactivation conditions ........................................................................................................11
3.2 DETAILED FUNCTIONAL DESCRIPTION............................................................................................................12
3.2.1 Interfaces of CONTROL_STEERING WHEEL_CITYPARK function ......................................................12
3.2.1.1 FUNCTIONAL INPUTS.........................................................................................................................13
3.2.1.2 Flow of the functional outputs .................................................................................................................14
3.2.2 CAN INTERFACES.....................................................................................................................................15
3.2.2.1 State controller.........................................................................................................................................16
3.2.2.2 TRANSITIONS .......................................................................................................................................16
3.2.2.3 MALFUNCTIONING PART ..................................................................................................................21
3.2.2.3.1 SAFETY DATA ......................................................................................................................................21
3.2.2.3.2 DISABLING OF CITYPARK CONTROL .............................................................................................21
3.2.2.3.3 REHABILITATION CONDITIONS.......................................................................................................22
3.2.2.3.4 RESET MANAGEMENT........................................................................................................................22
3.3 Functional requirements of the Citypark function ......................................................................................................23
3.3.1 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS........................................................23
3.3.1.1 THE 3 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS .......................................23
3.3.1.1.1 CALCULATE THE ROUGH TORQUE.................................................................................................23
3.3.1.1.1.1 ASSIST ACTUATOR DIMENSIONING ..........................................................................................23
3.3.1.1.1.2 TORQUE CALCULATION BEFORE DISABLING.........................................................................27
3.3.1.1.2 DETERMINE THE TEMPORAL DISABLING.....................................................................................27
3.3.1.1.3 DETERMINE THE TORQUE THAT MUST BE APPLIED..................................................................27
3.3.1.2 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEM INTERFACES ............................28
3.3.1.3 INTERNAL FLOWS: SUB-SYSTEM INPUTS AND OUTPUTS.........................................................29
3.3.2 „ CALCULATE THE BASIC TORQUE» SUB-SYSTEM..........................................................................31
4
3.3.2.1 NOMINAL CASE OF THE RELEASED STEERING WHEEL ............................................................31
3.3.2.2 STEERING WHEEL TAKEOVER BY THE DRIVER..........................................................................32
3.3.2.2.1.1 DRIVER TAKEOVER MANAGEMENT..........................................................................................32
3.3.2.2.1.2 ANALYSIS OF THE POSSIBILITY OF HARD POINTS ................................................................32
3.3.3 „ DETERMINE THE TEMPORAL DISABLING » SUB-SYSTEM ..........................................................35
3.3.3.1 DESCRIPTION OF THE TEMPORAL DISABLING............................................................................35
3.3.3.2 NOMINAL LIFE SITUATIONS.............................................................................................................36
3.3.3.2.1 PRELIMINARY REQUIREMENTS.......................................................................................................36
3.3.3.2.2 ACTIVATION AND OPERATION AND STOP WITHOUT MALFUNCTION ..................................37
3.3.3.3 LIFE SITUATION WITH A MALFUNCTION......................................................................................43
3.3.3.3.1 DEACTIVATION DUE TO HIGH VEHICLE SPEED ..........................................................................43
3.3.3.3.2 DEACTIVATION WITH STEERING WHEEL TORQUE....................................................................45
3.3.3.3.3 DEACTIVATION WITH STEERING WHEEL ANGLE.......................................................................48
3.3.3.3.4 DEACTIVATION WITH STEERING WHEEL ANGLE SET-POINT..................................................50
3.3.3.3.5 DEACTIVATION WITH THERMAL ENGINE STATE.......................................................................51
3.3.3.3.6 ASSISTANCE ACTUATOR FAILURE = initialization, in failure mode or broken down ....................52
3.3.3.3.7 DEACTIVATION WITH INVALID REQUEST....................................................................................53
3.3.3.3.8 DEACTIVATION WITH THE STEERING WHEEL SPEED ...............................................................54
3.3.3.3.9 DEACTIVATION WITH TORQUE_D_ASSISTANCE_PS..................................................................55
3.3.3.3.10 DEACTIVATION WITH CONTROL FAILURE..............................................................................56
3.3.3.3.11 DEACTIVATION WITH THERMAL SAFETY ...............................................................................60
3.3.3.3.12 DEACTIVATION WITH MAXIMUM NUMBER OF CYCLES......................................................62
3.3.4 SUB-SYSTEM: « DETERMINE THE TORQUE THAT MUST BE APPLIED »......................................64
3.3.4.1 APPLICATION OF THE TEMPORAL DISABLING............................................................................64
3.3.4.2 REQUESTED TORQUE TOO HIGH.....................................................................................................66
3.3.4.3 RELIEF OF THE STEERING SYSTEM (release)..................................................................................68
3.3.5 FURTHER REQUIREMENTS ....................................................................................................................72
3.3.5.1 Requirements that are not related to the customer ...................................................................................72
3.3.5.2 Performance requirements .......................................................................................................................72
3.4 CHARACTERIZATION TEST BENCH TESTS: .....................................................................................................73
3.4.1 Performance of the City park angle check....................................................................................................73
3.4.1.1 Objective..................................................................................................................................................73
3.4.1.2 Test parts..................................................................................................................................................73
3.4.1.3 Assembly .................................................................................................................................................73
3.4.1.4 Load .........................................................................................................................................................73
3.4.1.5 Target.......................................................................................................................................................74
3.4.1.6 Miscellaneous ..........................................................................................................................................75
3.4.2 EPS ENDURANCE PERFORMANCE RELATED TO THE CITYPARK FUNCTION AVAILABILITY
75
3.4.2.1 Objective..................................................................................................................................................75
5
3.4.2.2 Test parts..................................................................................................................................................75
3.4.2.3 Assembly .................................................................................................................................................75
3.4.2.4 Load .........................................................................................................................................................76
3.4.2.5 Target.......................................................................................................................................................77
3.4.2.6 Miscellaneous ..........................................................................................................................................77
3.5 OPERATIONAL SAFETY.........................................................................................................................................78
3.5.1 Operational safety functional requirements ..................................................................................................78
3.5.1.1 Failure detections.....................................................................................................................................78
3.5.1.2 Failure modes...........................................................................................................................................78
3.5.1.3 Leaving failure mode ...............................................................................................................................78
3.5.2 Requirements relative to availability and safety...........................................................................................78
3.5.2.1 Requirements relative to the automotive component manufacturer supply .............................................78
3.5.2.1.1 Quantitative requirements on critical outputs ..........................................................................................78
3.5.2.1.2 Requirements regarding error detection, consistence checks and failure modes .....................................81
3.5.2.2 Information requirements regarding the supply and that are required for the system integration............82
3.6 APPENDICES ............................................................................................................................................................83
3.6.1 Parameters ....................................................................................................................................................83
6
1 SUBJECT
1.1 CONTRACTUAL VALUE OF THE SPECIFICATION
This specification will only have a contractual value when it is associated to an order from the Purchasing Department.
1.2 TECHNICAL PROPOSAL OF THE AUTOMOTIVE COMPONENT
MANUFACTURER
This document specifies the EPS-specific City Park function, that enables realization of the City Park function
(SCP6/SCP9).
1.3 RESPONSIBILITIES OF THE AUTOMOTIVE COMPONENT
MANUFACTURER
1.3.1 Generalities
The requirements of this STE must be satisfied. In particular, the automotive component manufacturer must ensure the
occurrence of the critical safety events.
The automotive component manufacturer is responsible ensuring that its equipment complies with this STE. The acceptance
of drawings or documents by the automobile manufacturer does not release the automotive component manufacturer from his
responsibilities.
The automotive component manufacturer commits to participating in system adjustment if the automobile manufacturer
requires it and to collaborating with him in order to ensure proper system commissioning.
If necessary and on request from the automobile manufacturer, the automotive component manufacturer must allow access to
all technical information, detailed drawings, component specifications, manufacturing and control processes, etc., within a
delay that is justified by the project schedule.
The automotive component manufacturer may require all useful information that would not be part of this STE, on the
condition that he can justify the necessity for it within the framework of the project.
The automotive component manufacturer commits to collaborating with other equipment suppliers that are associated to
project development.
1.3.2 Responsibility sharing during the development phase
The industrial launch agreement is pronounced by PSA plate-form, engineering and purchasing Management.
7
2 SPECIFICATION PERIMETER
This document is an additional clause to EPS specifications that regroups the functions that are required to realize the global
CityPark function.
The part of the City Park function that is allocated in the EPS and that monitors the steering wheel set-point-up will be called
CityPark_EPS.
Existing EPS Specifications:
Global specification [1]
Detailed system specification [2]
Software specification [3]
I/S function and interface [4]
Diag specification [5]
Specification elements Concerned EPS specification
Function service and description: ext AF Detailed system specification
Failures and application of failure modes Software specification
Operational Safety Study: operational safety-
related requirements for the function
Detailed system specification
Interfaces of the system with the external
environment
I/S function and interface
8
3 FUNCTIONAL SPECIFICATIONS
3.1 PROVISIONS AND GENERAL DESCRIPTION OF THE SYSTEM
The CityPark function that consists of two functions, SCP6 and SCP9, is a comfort function:
- The SCP6 function consists of assisting the driver in entering a parallel parking space by controlling the
steering system.
- The SCP9 function consists of assisting the driver in getting out of a parallel parking space by controlling
the steering system.
This function consists of:
 Controlling the steering wheel position via an external position set-point by controlling the steering system.
 Assisting the driver during maneuvering phases.
3.1.1 MAIN FUNCTION: « ENTERING A PARKING SPACE » (SCP6)
The aim of the SCP6 function is to control the steering wheel so that is follows a set-point required from the City Park
controller, with the steering wheel released. The set-point given by City Park creates steering wheel movements that are
necessary to enter a parking space. The driver drives slowly (< 10 Km/h). He controls acceleration, braking and changing
the gear ratio but does not hold the steering wheel. City Park calculates the instant steering wheel angle set-point according
to vehicle speed.
NB: we speak of torque without specifying that they are at the level of the engine or pinion (equivalent to steering wheel).
The torques correspond to motor currents if this type of power actuator is used.
3.1.2 MAIN FUNCTION: « LEAVING A PARKING SPACE » (SCP9)
The aim of function SCP9 is to control the steering wheel so that it follows a set-point required from the City Park controller,
with the steering wheel released. The set-point given by City Park creates steering wheel movements that are necessary to
leave a parking space. The driver drives slowly (< 10 Km/h). He controls acceleration, braking and changing the gear ratio
but does not hold the steering wheel. City Park calculates the instant steering wheel angle set-point according to vehicle
speed.
NB: we speak of torque without specifying that they are at the level of the engine or pinion (equivalent to steering wheel)
3.1.3 INDUCED FUNCTION: « CONTROL_STEERING WHEEL_CITYPARK»
The function is the same for SCP6 and SCP9. The SCP6 case is described: SCP6 continuously calculates a torque: « SCP6
actuator torque ». It does this for as long as the Assistance actuator control laws are active. This torque is zero when
SCP6 does not control the steering wheel position (see below).
SCP6 controls the steering wheel position when:
(1) the SCP6 activation request is ON
(2) when the steering wheel is released
(3) when the internal combustion engine is running
(4) and when the vehicle speed is less than a threshold (e.g. 10 Km/h)
9
Control is provided by calculating the torque (Csol) and the torque (Casservissement). The torque
(Casservissement) comes from controlling the steering wheel position using the steering wheel angle set-point
sent by City Park and the angle sensor measurement. (Csol) is added to (Casservissement) in order to create the
total torque (Ctotal) to be applied.
The introduction of this CityPark_EPS function can be represented by the following diagram:
FONC-PS_CDC-
SCPx-049 (1)
The CityPark_EPS function is activated by a City Park control request from the CityPark ECU
(ECU_CPK)
FONC-PS_CDC-
SCPx-050 (1)
The CityPark function must enable follow the CityPark angle set-point from the CPK ECU
when the vehicle speed is null or while the vehicle is running (Vehicle speed<10 km/h) and
without any additional driver torque (free steering wheel).
FONC-PS_CDC-
SCPx-051 (1)
The CityPark_EPS function must not modify the driver´s steering wheel torque level when the
driver takes it over again
FONC-PS_CDC-
SCPx-052 (1)
The CityPark_EPS function must be clear for the driver (no additional elasticity, inertia, etc.)
FONC-PS_CDC-
SCPx-053 (1)
The CityPark_EPS function must only operate when the steering wheel is released
FONC-PS_CDC-
SCPx-054 (1)
The CityPark_EPS function must be resistant to adherence and to vehicle weight
The following input information is required by the CityPark_EPS function:
 Vehicle speed, already provided for the EPS.
 Absolute angle steering wheel. Comes from a WAS (wheel angle sensor) (external to the EPS)
 Steering wheel torque. Information is internal to the EPS
 EPS motor speed. Information is internal to the EPS
 EPS motor torque. Information is internal to the EPS
 Steering wheel angle sensor, CityPark reference coming from the CityPark ECU
 Activation request of the CityPark_EPS function (SCP6 & SCP9) coming from the CityPark ECU
 CityPark ECU status
 Internal EPS operational state (nominal, derating, default, etc. )
Steering torque
ECU CPK/AAS ECU DAE
CityPark_DAE
Communication
10
The CityPark_EPS module is a software module in the EPS that carries out the City Park function, i.e. turn the
steering wheel and wheels so that the vehicle follows the trajectory requested by the City Park ECU.
This module is therefore a position control on external set-point.
Position control
FONC-PS_CDC-
SCPx-055 (1)
This module is activated via functional flow REQUEST_ACTIVATION_CITYPARK (ie CAN IS
signals « CityPark function request » AND « CityPark control request ») from the CPK ECU.
Flow ‘’ CityPark angle set-point’’ from the CPK ECU is then the set-point that must be followed.
FONC-PS_CDC-
SCPx-056 (1)
This module must control the steering wheel angle on flow ‘’CityPark angle set-point’’ from the
CPK ECU.
This angle set-point must be saturated in position and speed by module CITYPARK_EPS
(Angle_CityPark_max = 90% of the steering wheel range (can be configured); Speed_Steering
wheel_CityPark_max=450°/s (can be configured)).
FONC-PS_CDC-
SCPx-057 (1)
The angle measurement must follow the CityPark angle set-point with a total maximum constant
delay of 100ms that consists of the pure delay and the regulation error.
It represents a dynamic error of maximum 45° for a steering wheel speed of 450°/s. The static error
must be less than 5°.
FONC-PS_CDC-
SCPx-058 (1)
Power assistance must not cause any vibration (visual or audible).
Control performances must not be disturbed by:
 Vehicle weight variations
 Climatic conditions (temperature)
 Ground adherence
Takeover by the driver
If the driver takes the steering wheel during a CityPark_EPS module control over, the angle control must be deactivated in a
manner that is clear for the driver. The driver must not feel any annoyance or have a feeling of pulling from the EPS motor
torque. The driver must regain his nominal assistance level without having felt any abnormal torque (peak).
Deactivation at the end of the control
During CITYPARK_EPS module deactivation (functional deactivation or failure mode), a phase of relaxation is started that
enables let the position control disappear. The motor torque is released progressively (determined by a release time) until it
reaches value zero.
 Relaxation time: 2s (can be configured)
11
3.1.4 CityPark_EPS activation conditions
FONC-PS_CDC-
SCPx-059 (1)
The CityPark_EPS function can only be activated if all the following conditions are satisfied:
 EPS configured in CityPark mode
 No CityPark ECU failure
 No internal EPS failure
 No severe derating (impossibility to apply the angle set-point over the entire range)
 State_MT information set to engine running
 IGN set to ON
 Checksum and process counter valid (details to be given)
 Steering wheel torque < Threshold 0 (0.5 Nm that can be calibrated)
 Vehicle speed < 10 km/h (regulatory)
 The request of CityPark_EPS activation from the CityPark ECU (activation request
(SCP6 or SCP9) must be confirmed by 3 (number that can be calibrated) successive
activation requests)
 For SCP6, reserve gear must be engaged (condition of control start)
NB: the function must be able to carry out 5 City Park parking maneuvers without falling in
derating. 1 City Park cycle corresponds to 5 City Park parking maneuvers.
3.1.5 City Park_EPS deactivation conditions
FONC-PS_CDC-
SCPx-060 (1)
The nominal deactivation condition of the City Park function is the change from MT state to
stalled, stopped or switched off. A transition phase must be taken into account to manage the
CityPark_EPS extinction in these cases (steering wheel relaxation)
In case of function locking via an (curb, etc.), the function must extinguish.
The CityPark_EPS function must be deactivated if one of the following conditions is satisfied:
 CityPark ECU failure
 internal EPS failure
 severe derating (impossibility to apply the angle set-point over the entire range)
 State_MT information set to engine stalled, stopped or switched off
 Checksum and process counter invalid
 Steering wheel torque > Threshold 2 (3Nm that can be calibrated, for 50 ms that
can be calibrated)
 Vehicle speed > 10km/h (regulatory)
 CityPark_EPS deactivation request from the CityPark ECU
 Steering wheel angle – error by more than 45° (that can be calibrated) compared
with the City Park angle set-point
Definition of the citypark parking maneuver:
A City Park parking maneuver corresponds to a rotational cycle of the steering wheel from end stop to end stop starting from
its central position and coming back to the middle
Definition of a City Park cycle:
A City Park cycle consists of a maximum of 5 City Park parking maneuvers before function deactivation. The maneuver is
considered as terminated after 5 City Park parking maneuvers.
12
3.2 DETAILED FUNCTIONAL DESCRIPTION
3.2.1 Interfaces of CONTROL_STEERING WHEEL_CITYPARK function
Internal EPS data
External EPS data
CONTROL STEERING WHEEL
CITYPARK
ETAT_MT
TORQUE_STEERING
WHEEL_MEASUREMENT
ANGLE_STEERING WHEEL
SPEED_VEHICULE
CONSIGNE_ANGLE_STEERING WHEEL
ETAT_DA_POUR_CITYPARK
CAUSE_DEACTIVATION_CITYPARK
TORQUE_STEERING WHEEL_CITYPARK
MARCHE_AR_BV
TORQUE_D_ASSISTANCE_DA
TORQUE_ACTUATOR_CITYPARK
REQUEST_ACTIVATION_CITYPARK
SPEED_STEERING WHEEL
+
+ Torque_Total_Actuator_d’Assistance
Torque_calculated by functions : calculate
TORQUE_ACTUATOR_CITYPARK
SCP6 or SCP9.
Ces 2 torques se rajoutent à ceux des lois de commandes
classiques.
Assistance actuator torque of the standard
control lawswithout functions : calculate
TORQUE_ACTUATOR_CITYPARK
SCP6 and SCP9
Sensor wheel torque after hard
phase compensation and
correction of zero sensor
(optimized steering wheel torque
from CAN protocol)
ETAT_DA
INDICATOR_HEATING _OF _DA
13
3.2.1.1 FUNCTIONAL INPUTS
Internal variable Creator Type Update Range or values Delay
outside
CAN
Accurac
y
Resolu
tion
Unit Description
TORQUE_D_ASSISTANCE_
PS
PS (for example EPS) Numeric =< 6 ms -Value: -60 to 60
-Invalid
< 2 ms 0,1 =< 0,1 N.m Actuator assistance torque of standard control laws without
functions CONTROL_STEERING WHEEL_CITYPARK SCP6
and SCP9 City Park (*)
This torque is used to calculate the current City Park actuator
torque
SPEED_VEHICLE CAN bus
(ABS / ESP)
Numeric 20 ms -Value: 0 to 100
-Invalid
- 1 0,1 m/s Front wheel average
TORQUE_STEERING
WHEEL_MEASUREMENT
Sensor on PS column Numeric =< 2 ms -Value: -10 to 10
-Invalid
< 2 ms 0,1 =< 0,1 N.m Steering wheel torque measured by a sensor at the top and
bottom of the column, between steering wheel and pinion
ANGLE_STEERING WHEEL Sensor on PC
steering wheel
Numeric 10 ms -Value: -780 to 780
-Invalid
< 5 ms =< +/-
2,5
0,1 Deg PS steering wheel angle
SPEED_STEERING WHEEL Calculate in PS ECU Numeric 10 ms -Value:
-1016
- Invalid
-Value:
1016
-Invalid
< 5 ms =< +/- 15 =< 7,5 Deg/s (for an EPS assessed from motor variables)
SET-
POINT_ANGLE_STEERING
WHEEL
CAN bus
(CityPark ECU)
Numeric 20 ms -Value: -780 to 780
-Invalid
< 5 ms =< +/-
0,5
0,1 Deg - Speed maxi = 450°/s / - Accel max=1000 °/s2
- Speed maxi and Accel maxi, can be configured
- Angle max=90% of the stroke
- filtered by 2ind order: (om=31rd/s Psi=0,7)
STATE_MT CAN bus Listed 100 ms -Switched off stalled
-Driven start / -Engine is running
-switched off / Stop
-Driven re-start / -In preparation
-Autonomous start
-Autonomous re-start / - invalid
REQUEST_ACTIVATION_CI
TYPARK
CAN bus
(CityPark ECU)
Listed 20 ms -Invalid
-Request SCP6 monitoring
-Request SCP9 monitoring
-No request
< 5 ms - - - City Park control request of steering wheel angle. I.e. request
activation function SCP6 or SCP9 CONTROL_STEERING
WHEEL_CITYPARK
MARCHE_AR_BV CAN bus Boolean 20 to 100
ms
-Not engaged
-Engaged
< 150 ms
INDICATOR_D_HEATING_
DE_LA_PS
PS
(for example EPS)
Numeric Range, values and unit to be
determined. They will be the same as
for threshold
THRESHOLD_D_HEATING_SCP6
< 10 ms
REQUEST_RELEASE -
CITYPARK
CAN bus
(Citypark ECU)
Liste 20 ms - No request
- - request
< 5 ma Temporary disabling request of the citypark actuator torque
7citypark function always activated) when vehicle at stop.
14
3.2.1.2 Flow of the functional outputs
Internal variable Creator Type Update Range or value Delays
outsid
e CAN
Accuracy Resolution Unit Description
TORQUE_ACTUATOR_CITYPARK PS
(for example EPS)
Numeric 10 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP6-SCP9 component of engine torque set-point (*)
Torque_calculated by functions CONTROL_STEERING
WHEEL_CITYPARK SCP6 or SCP9. Both functions
add to classical control laws
STATE_PS_FOR_CITYPARK PS
(for example EPS)
Listed 10 ms - Unavailable (1)
- EPS controller initialization
- EPS temperature too high
- battery voltage outer limits
- hardware voltage outer limits
- loss of IGN signal for the EPS
- Available
- Control in progress
- Invalid (2)
- sensor failure
- loss of communication
- EPS derating (wait for IGN off)
- internal controller failures
(Hard/Soft)
< 2 ms - - - CAN bus
For the CityPark controller and IMM
(1)  when it is temporary and that it can become
available without contact switching off
(2)  when it can become available after contact switch
off and / or repair
CAUSE_DEACTIVATION_CITYPARK PS
(for example EPS)
Listed 10 ms - No control interruption
- Takeover by the driver
- Vehicle speed too high
- Angular error too large
- Wheel obstacle
- PS thermal safety (Derating)
- Info EPS monitoring interruption after
steering assistance decrease (before
switching to EPS derating)
- Maximum number of cycles reached (City
Park maneuvers)
- Other failures
< 2 ms - - - CAN bus
For the after-sales department
TORQUE_STEERING
WHEEL_CITYPARK
Torque sensor and PS Numeric =< 10 ms -Value: -10 to 10
-Invalid
< 30 ms 0,5 =< 0,1 N.m CAN bus
Torque after hard phase compensation and adjustment to
zero of the steering wheel torque sensor
(NB:named «Optimized steering wheel torque» in the
CAN protocol)
15
3.2.2 CAN INTERFACES
DAE
(avec CAV
intégré)
ESP
CMM BSI
UC CPK
Vitesse véhicule (capteurs de roues)
Compteur de process 4 bits UC Frein
Checksum trame dynamique véhicule ABR
Etat moteur thermique
Consigne d’angle CityPark
Demande fonction CityPark
Demande régulation CityPark
Checksum UC CityPark
Compteur de process UC CityPark
Marche arrière (Position levier)
CAN I/S
Angle volant
Checksum angle volant
Compteur de process 4 bits angle volant
Etat DAE pour CityPark
Cause désactivation CityPark
Couple volant optimisé
Checksum trame dynamique SSP DAE
Compteur de process 4 bits SSP DAE
The EPS consumes the following signals from the CAN I/S (see [4] for more details):
CAN I/S Signal
Corresponding functional
Name
transmission (E)
/
Reception (R)
CityPark angle set-point R SET-POINT_ANGLE_STEERING WHEEL
CityPark function request R REQUEST_FUNCTION _CITYPARK
CityPark release request (reserved, no request,
request, reserved)
R
CITYPARK_RELEASE_REQUEST (no
request, request)
CityPark control unit checksum R Validity of SET-
POINT_ANGLE_STEERING WHEEL and
REQUEST_ACTIVATION_CITYPARK
CityPark control unit process counter R
Vehicle speed (wheel sensors) R SPEED_VEHICLE
4-bit process counter Brake control unit R
Validity of SPEED_VEHICLE
Checksum of the ABR vehicle dynamic frame R
Reverse gear (lever position) R MARCHE_AR_BV
engine state R STATE_MT
EPS state for CityPark E STATE_PS_FOR_CITYPARK
CityPark deactivation cause E CAUSE_DEACTIVATION_CITYPARK
Optimized steering wheel torque E TORQUE_STEERING
WHEEL_CITYPARK
Checksum of the SSP EPS dynamic frame E Validity of STATE_PS_FOR_CITYPARK,
CAUSE_DEACTIVATION_CITYPARK
and TORQUE_STEERING
WHEEL_CITYPARK
4-bit process counter SSP EPS E
Absolute steering wheel angle E ANGLE_STEERING WHEEL
Checksum angle Steering wheel E
Validity of ANGLE_STEERING WHEEL
4-bit process counter angle steering wheel E
NB: in bolt printed characters the signals that are specific to City Park
16
3.2.2.1 State controller
Indisponible
Réveil
Pas de défaut
ET Demande SCPx OK
Disponible
[Derating
OU Assistance indisponible]
ET Pas de défaut
Pas de défaut
ET pas de Derating
ET Assistance disponible
Pas de défaut ET
[Désactivartion SCPx OK
OU Reprise en main conducteur
OU Vitesse véhicule trop importante
OU Erreur angulaire
OU Obstacle à la roue
OU Nombre manœuvres trop important]
Mise en veille
Initialisation du
calculateur
Initialisation
terminée
Défaillance interne
OU Demande fonction/régulation SCPx
incohérente
OU Réception de valeurs invalides ou
interdites
OU Défaut de COM En défaut
Défaillance interne
OU Demande fonction/régulation SCPx
incohérente
Demande SCP6 et Info Marche arrière
incohérentes
OU Réception de valeurs invalides ou
interdites
OU Défaut de COM
Défaillance interne
OU Demande fonction/régulation SCPx
incohérente
OU Réception de valeurs invalides ou
interdites
OU Défaut de COM
Veille
Pilotage en cours
[Derating
OU Assistance indisponible]
ET Pas de défaut
3.2.2.2 TRANSITIONS
GEN-SC-DC-
[CityPark].0206 (1)
Transition from standby to initialization:
Start state: Standby
After event: The wake-up signal (+IGN) switches from Inactive to active
Then: EPS initializes.
17
GEN-SC-DC-
[CityPark].0207 (1)
Being put on standby:
After event: The wake-up signal (+IGN) switches from Active to Inactive
Then:
- TEMPO_PWL is reinitialized and triggered,
- EPS gets asleep when TEMPO_PWL has elapsed
GEN-SC-DC-
[CityPark].0208 (1)
Transition from Initialization to Unavailable:
As soon as the EPS has terminated its initialization,
- EPS state for CityPark is positioned to « Unavailable »,
- and CityPark deactivation cause is positioned « No control interruption ».
GEN-SC-DC-
[CityPark].0209 (1)
Transition from Unavailable to Available:
Start state:
- EPS state for CityPark = « Unavailable »,
If no failure is detected AND if the EPS is not in derating (i.e Inactive thermal security) AND if function
Assist steering is available,
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « No control interruption ».
GEN-SC-DC-
[CityPark].0210 (1)
Transition from Available or Control in progress to Unavailable (Loss of assistance):
Start state:
- EPS state for CityPark = « Available » or « Control in progress »,
On state:
- No failure is detected
And after event:
Function « Assist steering » is not available
Then:
- EPS state for CityPark switches to « Unavailable »,
- and CityPark deactivation cause is positioned to « No control interruption ».
GEN-SC-DC-
[CityPark].0211 (1)
Transition from Available or Control in progress to Unavailable (Derating):
Start state:
- EPS state for CityPark = « Available » or « Control in progress »,
On state:
- No failure is detected
And after event:
- The EPS switches to derating
Then:
- EPS state for CityPark switches to « Unavailable »,
- and CityPark deactivation cause is positioned to « EPS thermal security ».
18
GEN-SC-DC-
[CityPark].0212 (2)
Transition from Available to Control in progress (Activation SCP6):
Start state:
- EPS state for CityPark = « Available »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
- CityPark function request = « No request » AND CityPark control request = « No request »
- AND Reverse gear (lever position) = Reverse gear engaged
And after event:
- Reception of N_VALID consecutive occurrence [CityPark function request = « Request of SCP6
control » AND Vehicle speed (wheel sensors) < 10 km/h
Then:
- EPS state for CityPark switches to « Control in progress »,
- and CityPark deactivation cause is positioned to « No control interruption »,
- and cpt_maneuver_EPS = 0.
GEN-SC-DC-
[CityPark].0213 (2)
Transition from Available to Control in progress (Activation SCP9):
Start state:
- EPS state for CityPark = « Available »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
- CityPark function request = « No request » AND CityPark control request = « No request »
And after event:
- Reception of N_VALID consecutive occurrence [CityPark function request = « Request of SCP9
control » AND Vehicle speed < 10 km/h
Then:
- EPS state for CityPark switches to « Control in progress »,
- CityPark deactivation cause is positioned to « No control interruption »,
- and cpt_maneuver_EPS = 0.
GEN-SC-DC-
[CityPark].0214 (1)
CityPark angle set-point is only taken into account when EPS state for CityPark is positioned to
« Control in progress ».
GEN-SC-DC-
[CityPark].0215 (1)
Counter cpt_maneuver_EPS (positioned to 0 during EPS initialization phase) is incremented by one
unit at each new maneuver from end stop to end stop requested by the CityPark function.
19
GEN-SC-DC-
[CityPark].0216 (1)
Transition from Control in progress to Available (Deactivation SCPx):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- CityPark function request and CityPark control request switch to « No request »
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « No control interruption ».
GEN-SC-DC-
[CityPark].0217 (1)
Transition from Control in progress to Available (Takeover):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- Steering wheel torque outside the functional range
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « Takeover by the driver » while
TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
GEN-SC-DC-
[CityPark].0218 (2)
Transition from Control in progress to Available (HV speed too high):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- Vehicle speed (wheel sensors) > 10 km/h
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « Vehicle speed too high » while
TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
20
GEN-SC-DC-
[CityPark].0219 (1)
Transition from Control in progress to Available (angular error):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- the difference between steering wheel angle and CityPark angle set-point is outside the functional
range
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « Angular error too large» while
TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
GEN-SC-DC-
[CityPark].0220 (1)
Transition from Control in progress to Available (Wheel obstacle):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- EPS current is outside the functional range
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « Wheel obstacle » while
TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
GEN-SC-DC-
[CityPark].0221 (1)
Transition from Control in progress to Available (Number of maneuvers too high):
Start state: EPS state for CityPark = « Control in progress »
On state:
- No failure is detected AND function Assist steering is available
AND the EPS is not in derating
And after event:
- cpt_maneuver_EPS > MAXI_NB_END STOP_TO_END STOP_CPK_SCP6 (resp. SCP9)
Then:
- EPS state for CityPark switches to « Available »,
- and CityPark deactivation cause is positioned to « Number of maneuvers too high » while
TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
21
3.2.2.3 MALFUNCTIONING PART
3.2.2.3.1 SAFETY DATA
GEN-SC-DC-
[CityPark].0228 (1)
The following data is considered as critical by the EPS:
Data Frame Back-up value
CityPark angle set-point 2EB Invalid
CityPark function request 2EB Invalid
Vehicle speed (wheel sensors) 38D SPEED_REFUGE_EPS
GEN-SC-DC-
[CityPark].0229 (1)
2EB frame checksum:
If CityPark control unit checksum = incorrect (See ST Checksum & Cpt process)
Then the EPS uses back-up values for signals CityPark angle set-point, CityPark function request
and CityPark control request.
GEN-SC-DC-
[CityPark].0230 (1)
2EB frame process counter:
If CityPark control unit process counter is fixed (See ST Chksum & Cpt process) during
P1_PROCESS_FIGE consecutive occurrences, then the EPS uses back-up values for signals CityPark
angle set-point, CityPark function request and CityPark control request.
GEN-SC-DC-
[CityPark].0231 (1)
Checksum 38D:
If Checksum of the ABR vehicle dynamic frame = incorrect (See ST Chksum & Cpt process)
Then the EPS uses vehicle speed (wheel sensors) = SPEED_REFUGE_EPS.
GEN-SC-DC-
[CityPark].0232 (1)
38D process counter
If 4-bit process counter Brake control unit = fixed (See ST Chksum & Cpt process) during
P2_PROCESS_FIGE consecutive occurrences, then the EPS uses Vehicle speed (wheel sensors) =
SPEED_REFUGE_EPS.
3.2.2.3.2 DISABLING OF CITYPARK CONTROL
GEN-SC-DC-
[CityPark].0233 (2)
Invalid values (1):
The following values are determined as invalid for the EPS:
- Vehicle speed (wheel sensors) = Invalid,
- CityPark angle set-point = Invalid,
- CityPark function request = Invalid,
- engine state = Invalid
(1) detection, confirmation and rehabilitation modalities (counter, timeout, etc.) for each of the above assertions
are determined by thresholds that can be configured.
GEN-SC-DC-
[CityPark].0234 (2)
Prohibited values (2):
The following values are determined as prohibited for the EPS
- CityPark angle set-point = Reserved (i.e < Min or > Max)
- CityPark release request = Reserved
- engine state = Reserved
(2) detection, confirmation and rehabilitation modalities (counter, timeout, etc.) for each of the above assertions
are determined by thresholds that can be configured.
GEN-SC-DC-
[CityPark].0235 (1)
COM failure (3):
If Frame [2EB or IS_DYN_ABR_38D or IS_DYN2_CMM_348 or IS_DAT_BSI_412] confirmed as
absent or too short.
22
(3) see ST COM layers
GEN-SC-DC-
[CityPark].0236 (2)
Transition Unavailable or Available or Control in progress to Defective (Internal failures,
invalid/prohibited values, COM failure):
After event:
Confirmation of an internal EPS failure (or on confirmation of reception of invalid values or prohibited
or on confirmation of a COM failure,
Then:
- EPS state for CityPark switches to « Invalid »,
- CityPark deactivation cause switches to « Other failures »
until wake-up signal of the EPS is deactivated (+IGN)
- or until rehabilitation of internal EPS failures (depends on failures that can be rehabilitated without
Key Off / Key On) (see technical specification « diag » [5])
- or until reception of 10 valid consecutive values of the flow that has caused to switch to failure
- or until rehabilitation of the COM failure
GEN-SC-DC-
[CityPark].0243 (1)
Transition from Available to Defective (Request SCP6 and Info Reverse gear inconsistent):
Start state:
- EPS state for CityPark = « Available »
On state:
- Reverse gear (lever position) = « Front gear or neutral position »
And after event:
- CityPark function request switches from « No request » to « Request of SCP6 control »
Then:
- EPS state for CityPark switches to « Invalid »,
- CityPark deactivation cause switches to « Other failures »
until wake-up signal of the EPS is deactivated (+IGN)
3.2.2.3.3 REHABILITATION CONDITIONS
GEN-SC-DC-
[CityPark].0244 (0)
Transition from Defective to Unavailable:
When a failure has been confirmed (i.e EPS state for CityPark = « Invalid » and CityPark
deactivation cause = « Other failures »), then EPS state for CityPark and CityPark deactivation
cause are reinitialized (see Transition from Initialization to Unavailable):
- on the next EPS wake-up signal transition (+IGN) from Inactive to active.
- or at the next wake-up of the EPS controller,
or EPS state for CityPark will switch to unavailable :
- On rehabilitation of internal EPS failures (depends on the failures that can be rehabilitated
without Key off/key on) (see technical specification “diag” [5])
- - or reception of 10 consecutive valid values of the flow that has caused to switch to failure
- - or rehabilitation of the COM failure
3.2.2.3.4 RESET MANAGEMENT
GEN-SC-DC-
[CityPark].0245 (1)
During a software reset,
- EPS state for CityPark switches to « Unavailable »,
23
- CityPark deactivation cause switches to « Other failures ».
3.3 FUNCTIONAL REQUIREMENTS OF THE CITYPARK FUNCTION
3.3.1 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS
3.3.1.1 THE 3 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS
3.3.1.1.1 CALCULATE THE ROUGH TORQUE
3.3.1.1.1.1 ASSIST ACTUATOR DIMENSIONING
The calculation of SCP6 and SCP9 TORQUE_ACTUATOR_CITYPARK of CONTROL_STEERING WHEEL_CITYPARK
requires the new requirements regarding assistance actuator to be taken into account. These requirements are described below
using BVH2’ EPS as application. The minimum power of the assist actuator must be such that the steering wheel can turn
without driver effort at the following operating points:
- MTAC load (max force)
- vehicle speed ≤ 10 Km/h
Torque driver % rack stroke Steering wheel
speed (°/s)
Steering wheel
acceleration (°/s2)
0  released steering
wheel
90 0 1000 maximum
0  released steering
wheel
85 200 1000 maximum
0  released steering
wheel
76 350 1000 maximum
0  released steering
wheel
67,5 450 1000 maximum
0  released steering
wheel
0 450 1000 maximum
The following curves correspond to the points given above.
- Angle and steering wheel speed according to time
- Steering wheel speed according to steering wheel angle (% of the rack stroke)
24
Change in speed and steering angle against time during a City Park maneuver,,
X axis is in seconds and goes from 0 to 11s:
-500
-400
-300
-200
-100
0
100
200
300
400
500
Time [s]
-100
-80
-60
-40
-20
0
20
40
60
80
100
Angular displacement [%]
Speed Steering wheel
Angle steering wheel
Steering wheel speed [°/s]
25
Change in steering wheel speed according to steering wheel angle during City Park maneuver:
-500
-400
-300
-200
-100
0
100
200
300
400
500
-100 -80 -60 -40 -20 0 20 40 60 80 100
% Course angle volant
Vitesse
volant
[°/s]
26
The following requirements for the CONTROL_STEERING WHEEL_CITYPARK function are deduced from the specification above
mentioned:
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-001 (1)
The minimum power of the assistance actuator for the calculation of the SCP6 and
SCP9 TORQUE_ACTUATOR_CITYPARK relative to an EPS dimensioned without
CONTROL_STEERING WHEEL_CITYPARK function, must be such that the
steering wheel can turn without driver effort at the following operating points:
%_rack(i,j), Speed_Steering wheel(i,j), Acceleration_Steering wheel_maxi(i,j) and
ratio(j)
with:
- i=1 to NP_THEN_ACT number of points that determine EPS power
- j=1 to NB_RATIO  number of ratios = rack displacement / steering wheel
rotation
For a nominal City Park operation for:
- MTAC load
- vehicle speed: 0Km/h<or=Vehicle speed< 10 Km/h
- voltage at EPS terminals: 11,3V < U < 16V
- ambient temperature under hood between -20°C and 95°C
Nominal operation according to temperature and supply voltage:
Voltage [V]
8 11,3 12,3 13,5 16 18
Temperature
[°C]
-40 CAM com CAM com CAM com CAM com CAM com CAM com
-30 CAM com CAM com CAM com CAM com CAM com CAM com
-20 CAM com City Park City Park City Park City Park CAM com
-5 CAM com City Park City Park City Park City Park CAM com
25 CAM com City Park City Park City Park City Park CAM com
90 CAM com City Park City Park City Park City Park CAM com
95 CAM com City Park City Park City Park City Park CAM com
110 CAM com City Park City Park City Park City Park CAM com
130 CAM com - - - - CAM com
CAM com: no performance required by CAN communication required.
99% of produced steering systems must satisfy the performance requirements that
are specified and by taking production-related performance variations into
account
GEN-VHL-ST-
CP-500 (2.0)
GEN-VHL-ST-
CP-735 (2.0)
GEN-VHL-ST-
CP-745 (2.0)
GEN-VHL-ST-
CP-746 (2.0)
GEN-VHL-ST-
CP-662 (2.0)
GEN-VHL-ST-
CP-747 (2.0)
 The following parameters are used by the requirement stated above:
 Number of rack displacement % points at which the minimum steering wheel speeds are determined to be carried out
without driver: NP_THEN_ACT (i=1 to NP_THEN_ACT)
 Number of different ratios for applicative vehicles. A ratio is a steering gear reduction: rack displacement for one
steering wheel rotation: NB_RATIO (j=1 to NB_RATIO)
 Steering wheel angles where the minimum steering wheel speeds are determined to be carried out without driver:
ANGLE_STEERING WHEEL(i,j)
 Minimum steering wheel speeds to be carried out without driver: SPEED_STEERING WHEEL(i,j)
 Maximum steering wheel accelerations to be carried out without driver: ACCELERATIONS_STEERING
WHEEL_MAXI(i,j)
 Steering ratio: ratio is a demultiplication of the steering: rack displacement for one steering wheel rotation:
RATIO(j)
27
3.3.1.1.1.2 TORQUE CALCULATION BEFORE DISABLING
Basic SCP6 AND SCP9 TORQUE_ACTUATOR_CITYPARK have the following properties:
- these torques are added to the standard assistance actuator torque when they are active. They are the over-
torques that are required for functions: SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK
- These torques are active, i.e. not null when they are not deactivated by the temporal disabling
determination (see following chapter). The control is then running without failure
- these torques are inactive, i.e. null when they are deactivated by the temporal disabling determination (see
following chapter). The control is then stopped due to a failure.
3.3.1.1.2 DETERMINE THE TEMPORAL DISABLING
A temporal disabling block is also determined for functions SCP6 or SCP9 CONTROL_STEERING
WHEEL_CITYPARK. This block processes:
- nominal life situations.
- life situations with a malfunction.
This function provides an internal « flag » that will activate (torque not null) or deactivate (torque null). Torques are
those of functions: SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK.
3.3.1.1.3 DETERMINE THE TORQUE THAT MUST BE APPLIED
The torque of the SCP6 function or SCP9 CONTROL_STEERING WHEEL_CITYPARK, which must be applied is
calculated from the basic torque by applying the result of the temporal disabling calculation. Various processes may
be applied to this basic torque:
- SCP6 and SCP9 torque saturation
- error detection if the calculated SCP6 or SCP9 torque is too high.
28
3.3.1.2 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEM INTERFACES
NB: - PS  Assistance actuator = power steering (for example: EPS)
- same functional diagram for SCP6 and SCP9
- the takeover of the steering wheel is managed in CALCULATE_TORQUE_ENGINE
Monitor steering wheel
CITYPARK
TORQUE_D_ASSISTANCE_DA
D
ét
er
mi
ne
r
le
tor
qu
e
au
so
l
(A)
TORQUE_STEERING
WHEEL_MEASUREMENT
ANGLE_STEERING WHEEL
DEMANDE_FONCTION_CITYPARK
CONSIGNE_ANGLE_STEERING WHEEL
SPEED_STEERING WHEEL
C _ROUGH_SCP6
CALCULATE
ENGINE
TORQUE
MARCHE_AR_BV
ETAT_MT
SPEED_VEHICULE
CAUSE_DEACTIVATION_CITYPARK
ETAT_DA_POUR_CITYPARK
DETERMINE
TEMPORAL
DISABLING
SITUATION
ETAT_DA
TORQUE_STEERING
WHEEL_CITYPARK
ETAT_REGULATION_SCP6
DUREE_DU_RATE_LIMITEUR_SCP6
SITUATION_D_DISABLING_TEMPORELLE_SCP6
DETERMINE
TORQUE TORQUE_ACTUATOR_CITYPARK
TORQUE_SCP6
INDICATOR_D_ECHAUFFEMENT_DE_LA_DA
Sensor wheel torque after hard
phase compensation and
correction of zero sensor
(Torque Steering wheel optimized
of CAN messaging system)
Torque_calculated using the functions :
calculate
TORQUE_ACTUATOR_CITYPARK
SCP6
Ces 2 torques se rajoutent à ceux des lois
de commandes classiques
Assistance Torque Actuator of
standard control laws without
functions: calculate
TORQUE_ACTUATOR_CITYPARK
SCP6
29
3.3.1.3 INTERNAL FLOWS: SUB-SYSTEM INPUTS AND OUTPUTS
***** SCP6 *****
Internal Variable Creator Type updaqe Range or values Delay
outside
CAN
Accurac
y
Solution Unit Description
C _basic_SCP6 « Monitor steering
wheel CityPark »
Numeric 2 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP6 CONTROL_STEERING
WHEEL_CITYPARK function torque before
disabling
SITUATION_D_DISABLING TEMPORAL_SCP6 « Monitor steering
wheel CityPark »
Listed 20 ms - Activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with
delay = « ACTIVATION_RATE_LIMITATOR_SCP6 »
- De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6
with delay = « DEACTIVATION_RATE_LIMITATOR_SCP6 »
-Does not change
< 5 ms - - -
DURATION_ACTIVATION_RATE_LIMITATOR_SCP « Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of
TORQUE_ACTUATOR_CITYPARK_SCP6
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP « Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of
TORQUE_ACTUATOR_CITYPARK_SCP6
DURATION_ACTIVATION_RELEASE_RATE_LIMITATO
R_CITYPARK
« Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s
DURATION_DEACTIVATION_RELEASE_RATE_LIMITAT
OR_CITYPARK
« Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s
30
***** SCP9 *****
Internal Variable Creator Type Update Range or values Delay
outside CAN
Accuracy Solution uNIT Description
C _basic_SCP9 « Monitor steering
wheel CityPark »
Numeric 2 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP9 CONTROL_STEERING
WHEEL_CITYPARK function torque before
disabling
SITUATION_D_DISABLING TEMPORAL_SCP9 « Monitor steering
wheel CityPark »
Listed 20 ms - Activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with
delay = « ACTIVATION_RATE_LIMITATOR_SCP9 »
- De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9
with delay = « DEACTIVATION_RATE_LIMITATOR_SCP9 »
-Does not change
< 5 ms - - -
DURATION_DU_RATE_LIMITATOR_SCP9 « Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of
TORQUE_ACTUATOR_CITYPARK_SCP9
DURATION_ACTIVATION_RATE_LIMITATOR_SCP « Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of
TORQUE_ACTUATOR_CITYPARK_SCP9
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP « Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of
TORQUE_ACTUATOR_CITYPARK_SCP9
DURATION_ACTIVATION_RELEASE_RATE_LIMITATOR_
CITYPARK
« Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s
DURATION_DEACTIVATION_RELEASE_RATE_LIMITATO
R_CITYPARK
« Monitor steering
wheel CityPark »
Numeric table
[ x , y ,….]
20 ms -30 30 < 5 ms - 0,05 s
31
3.3.2 „ CALCULATE THE BASIC TORQUE» SUB-SYSTEM
3.3.2.1 NOMINAL CASE OF THE RELEASED STEERING WHEEL
C_basic_SCP6 or C_basic_SCP9 are over-torques that provide steering wheel position control using the assistance
actuator, or CONTROL_STEERING WHEEL_CITYPARK function. These torques are called « rough» because the
calculation of the SCP6 or SCP9 TEMPORAL DISABLING SITUATION applies to these rough torques. Therefore,
rough torques are not the torques that are directly applied by the « assistance actuator ».
Definition:
(Ctotal)  current assistance actuator torque
(Cvol)  measured steering wheel torque (steering wheel is released)
(Csol)  torque that corresponds to all the forces coming from the ground: tires, wheels, front and rear axles.
(Csol) is given by steering assistance and only compensates the steering wheel movement in a balance situation. If a
small amount of torque is added to the assistance, the steering wheel begins to rotate. (Csol) changes according to
conditions: vehicle load, adherence, tire state, etc. During assistance actuator operation, (Csol) is deduced from the total
instant assistance torque (Ctotal) and the measured steering wheel torque (Cvol).
(Casservissement)  is the assistance torque required by function SCP6 or SCP9 CONTROL_STEERING
WHEEL_CITYPARK
Calculation of torques C_basic_SCP6 or C_basic_SCP9 of SCP6 or SCP9 CONTROL_STEERING
WHEEL_CITYPARK function with released steering wheel:
1: From (Ctotal) and (Cvol) that are known, (Csol) is calculated by substracting the contribution (Cvol) from
(Ctotal). The remainer is (Csol)
2: The control torque (Casservissement) of the steering wheel angle position is given by the regulator based
on the difference between the steering wheel angle set-point and the measured steering wheel angle.
3: The torque remains to be calculated to request assistance from the actuator. I.e.:
« C_basic_SCP6 » or « C_basic_SCP9 ». This is (Csol) to which contribution (Casservissement) is
added.
32
3.3.2.2 STEERING WHEEL TAKEOVER BY THE DRIVER
Steering wheel control is taken over the same way as for SCP6 and SCP9.
3.3.2.2.1.1 DRIVER TAKEOVER MANAGEMENT
Manual takeover of the steering wheel occurs in about 200 ms.
This duration is related to the physical phenomenon of the hand compression on the steering wheel. This average actual
value also corresponds to the time during which the system wants to wait for manual takeover. Beyond 200 ms, the
steering wheel has taken too much delay compared with the set-point, for the SCPxfunctions to continue to operate.
Below this 200 msm value, there has been a small amount of SCPx torque and the steering wheel angle delay is
acceptable for the SCPx to reoperate if the takeover is not completed. This can be a contact with the steering wheel.
This takeover is managed as follows: torque C_basic_SCP6 decreases gradually as the steering wheel torque increases.
There are no dynamics during the decrease of torque C_basic_SCP6. It decreases at the same time as the steering wheel
torque increases to the nearest calculation period. There are 2 steering wheel torque thresholds. Below 1,3 Nm, nothing
happens. Above 2,3 Nm, torque C_basic_SCP6 is null. Between the 2 thresholds, torque C_basic_SCP6 is inversely
linearly proportional to the steering wheel torque.
3.3.2.2.1.2 ANALYSIS OF THE POSSIBILITY OF HARD POINTS
Takeover with fixed hand:
The torque that is felt by the driver is slow if below 2Nm. From 2 Nm onwards, torque C_basic_SCP6 has decreased by
70%. In summary, by the time the driver begins to feel something in his hand, the functional torque has already
decreased without delay. Within this framework, the time the driver´s hand needs to grasp the steering wheel, i.e. 200
ms without haste, has no importance.
Takeover with moving hand:
When the SCP6 CONTROL_STEERING WHEEL_CITYPARK function operates and the steering wheel is released,
there is no torque in the torque sensor. There is only the torque that is required for the steering wheel inertia
acceleration. When the steering wheel is taken back with a moving hand (movement in the same or opposite direction to
that of the steering wheel), the steering wheel inertia is not sufficient to create a hard point. This is all the more true as
torque C_basic_SCP6 will slow down the steering wheel while decreasing and always favorably.
- If the steering wheel is taken back in the same direction as being moved, it will be slowed down since it
rotates at maximum 450 °/s. Therefore the driver is helped by torque C_basic_SCP6.
- If the steering wheel is turned in the opposite direction to which it is moving, torque C_basic_SCP6 slows
down the steering wheel and therefore helps the driver to turn it in the opposite direction. Therefore, there is no hard
point when taking control of the steering wheel.
33
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-002 (“)
When the driver takes over the steering wheel, the steering wheel torque
increases. Torque C_basic_SCP6 must reduce progressively during this torque
increase,in order to stop the effects of the CONTROL_STEERING
WHEEL_CITYPARK function without the driver feeling torque C_basic_SCP6.
2 thresholds are defined for the steering wheel torque:
1 - « TORQUE_STEERING WHEEL_MINI_SCP6 » such that:
If:
« TORQUE_STEERING WHEEL_MEASUREMENT » <
« TORQUE_STEERING WHEEL_MINI_SCP6 »
Then:
C_basic_SCP6 = standard velue that is not modified by takeover of the
steering wheel
2 - « TORQUE_STEERING WHEEL_MAXI_SCP6 » such that:
If:
« TORQUE_STEERING WHEEL_MEASUREMENT » >
« TORQUE_STEERING WHEEL_MAXI_SCP6 »
Then:
C_basic_SCP6 = 0
3 - Between the 2 thresholds, torque C_basic_SCP6 is inversely and linearly
proportional to the steering wheel torque.
As long as maximum steering wheel torque « TORQUE_STEERING
WHEEL_MAXI_SCP6 » is not reached, SCP6 function is not activated. When
this threshold is reached, a deactivation request must be sent to the CityPark
controller within a total delay that is less than 20 ms. This delay consists of the
following:
- 10ms maximum processing via function „control steering wheel
CityPark“. See
requirement: « FONC-PS_DC_SCPx-048(1) »
- maximum 10 ms for the stop request transmission to the
City Park controller that manages the steering wheel set-point
GEN-VHL-ST-CP-
751 (2.0)
GEN-VHL-ST-CP-
564 (2.0)
GEN-VHL-ST-CP-
568 (2.0)
GEN-VHL-ST-CP-
569 (2.0)
The following parameters are used for these requirements:
The minimum steering wheel torque threshold from which C_basic_SCP6 is active is: TORQUE_STEERING
WHEEL_MINI_SCP6
The maximum steering wheel torque threshold above which torque C_basic_SCP6 is null is: TORQUE_STEERING
WHEEL_MAXI_SCP6
Between thresholds TORQUE_STEERING WHEEL_MINI_SCP6 and
TORQUE_STEERING WHEEL_MAXI_SCP6, torque C_basic_SCP6 is inversely and linearly proportional to the
steering wheel torque.
34
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-003 (2)
When the driver takes over the steering wheel, the steering wheel torque
increases. Torque C_basic_SCP09 must reduce progressively during this torque
increase, in order to stop the effects of the CONTROL_STEERING
WHEEL_CITYPARK function without the driver feeling torque C_basic_SCP9.
2 thresholds are defined for the steering wheel torque:
1 - « TORQUE_STEERING WHEEL_MINI_SCP9 » such that:
If:
« TORQUE_STEERING WHEEL_MEASUREMENT » <
« TORQUE_STEERING WHEEL_MINI_SCP9 »
Then:
C_basic_SCP9 = standard velue that is not modified by takeover of the
steering wheel
2 - « TORQUE_STEERING WHEEL_MAXI_SCP9 » such that:
If:
« TORQUE_STEERING WHEEL_MEASUREMENT » >
« TORQUE_STEERING WHEEL_MAXI_SCP9 »
Then:
C_basic_SCP9 = 0
3 - Between the 2 thresholds, torque C_basic_SCP9 is inversely and linearly
proportional to the steering wheel torque.
As long as maximum steering wheel torque « TORQUE_STEERING
WHEEL_MAXI_SCP9 » is not reached, SCP9 function is not activated. When
this threshold is reached, a deactivation request must be sent to the CityPark
controller within a total delay that is less than 20 ms. This delay consists of the
following:
- 10ms maximum processing via function „control steering wheel
CityPark“. See
requirement: « FONC-PS_DC_SCPx-048(1) »
- maximum 10 ms for the stop request transmission to the
City Park controller that manages the steering wheel set-point
GEN-VHL-ST-CP-
754 (2.0)
GEN-VHL-ST-CP-
769 (2.0)
GEN-VHL-ST-CP-
764 (2.0)
GEN-VHL-ST-CP-
765 (2.0)
The following parameters are used for these requirements:
The minimum steering wheel torque threshold from which C_basic_SCP9 is active is: TORQUE_STEERING
WHEEL_MINI_SCP9
The maximum steering wheel torque threshold above which torque C_basic_SCP9 is null is: TORQUE_STEERING
WHEEL_MAXI_SCP9
Between thresholds TORQUE_STEERING WHEEL_MINI_SCP9 and
TORQUE_STEERING WHEEL_MAXI_SCP9, torque C_basic_SCP9 is inversely and linearly proportional to the
steering wheel torque.
35
3.3.3 „ DETERMINE THE TEMPORAL DISABLING » SUB-SYSTEM
3.3.3.1 DESCRIPTION OF THE TEMPORAL DISABLING
A « temporal disabling » block is also determined for function CONTROL_STEERING WHEEL_SCP6 (idem SCP9),.
This block processes:
- nominal life situations.
- life situations with a malfunction.
This function provides an internal « flag » that will activate the CONTROL_STEERING WHEEL_CITYPARK
function.
This flag is output: SITUATION_D_DISABLING_TEMPORAL_SCP6 or SCP9 that is valid for:
1 - activation
2 - deactivation
3 - does not change
- In case 1, activation is immediate (within the system´s response time)
- In case 2, a duration is applied for deactivation. TORQUE_ACTUATOR_CITYPARK_SCP6 or SCP9 switch from X
to 0 with a duration that can be configured. X is the value of TORQUE_ACTUATOR_CITYPARK_SCP6 or SCP9
when SITUATION_D_DISABLING_TEMPORAL_SCP6 or SCP9 changes.
See chapter: « APPLICATION OF THE TEMPORAL DISABLING »
MARCHE_AR_BV
ETAT_MT
DEMANDE_RELEASE_CITYPARK
VITESSE_VOLANT
ANGLE_VOLANT
VITESSE_VEHICULE
CAUSE_DESACTIVATION_CITYPARK
ETAT_DA_POUR_CITYPARK
DETERMINE THE
TEMPORAL
DISABLING
SITUATION
COUPLE_VOLANT_MESURE
ETAT_DA
COUPLE _VOLANT_CITYPARK
Déterminer la situation
d’disabling temporelle
SITUATION_DISABLING_TEMPORELLE
SITUATION_D_DISABLING_TEMPORELLE_SCP6
DUREE_DU_RATE_LIMITEUR_SCP
CONSIGNE_ANGLE_VOLANT
INDICATEUR_D_ECHAUFFEMENT_DE_LA_DA
36
3.3.3.2 NOMINAL LIFE SITUATIONS
3.3.3.2.1 PRELIMINARY REQUIREMENTS
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-004 (1)
Values of the measured steering wheel torque transmitted on the CAN network
via the PS: the measured steering wheel torque is only known by the PS.
Therefore, it is transmitted on the CAN network for information and is called
« Optimized steering wheel torque ». This is the torque after phase
compensations (or system that provide PS stability). If this transmitted torque is
not taken after the phase compensations, then it may not be useable for an order
algorithm. Therefore, the « Optimized steering wheel torque » is limited to being
information.
TORQUE_STEERING WHEEL_CITYPARK = TORQUE_STEERING
WHEEL_MEASUREMENT after phase compensation
NB: there is usually 1 to 2 % difference between these signals
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-005 (2)
Details regarding PS and function operating states: « Control CityPark
steering wheel »:
The following states of the standard EPS assistance are considered :
- assistance off (assistance stopped)
- assistance on with STT limitation (engine current reduced after switching to
STT mode)
- assistance on without STT limitation
The state of the assistance including function « Control CityPark steering
wheel » is considered
IF:
State of the standard EPS assistance is « assistance on without STT limitation» (a)
State of the standard EPS assistance is « assistance on with limitation STT limitation» (b)
AND
REQUEST_FUNCTION_CITYPARK = no request (a) (b)
THEN:
STATE_DA_FOR_CITYPARK = available (a) unavailable (b)
Variable : STATE_DA_FOR_CITYPARK states City Park operation
37
3.3.3.2.2 ACTIVATION AND OPERATION AND STOP WITHOUT MALFUNCTION
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-006 (§)
When City Park starts to enter a parking space (SCP6), and this without malfunctioning,
a certain number of variables that indicate nominal CONTROL_STEERING
WHEEL_CITYPARK function operation must be activated.
IF:
SPEED_VEHICLE < 10 km/h
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT = Engine is running
AND
MARCHE_AR_BV = engaged
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = request of SCP6 control
AND
the state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Available
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6
THEN:
C_basic_SCP6 = Standard value not modified by block DETERMINE_THE_TORQUE
AND
SITUATION_D_DISABLING_TEMPORAL_SCP6=activate torque (*)
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_ACTIVATION_RATE_LIMITATOR_SCP6
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
AND
Number of END STOP_TO_END STOP_STEERING WHEEL = 0
NB: (*) DURATION_ACTIVATION_RATE_LIMITATOR_SCP is read only incase of activation with
SITUATION_D_DISABLING_TEMPORAL_SCP6
GEN-VHL-ST-CP-
456 (1.0)
GEN-VHL-ST-CP-
466 (1.0
GEN-VHL-ST-CP-
838 (1.0))
GEN-VHL-ST-CP-
474 (1.0)
GEN-VHL-ST-CP-
815 (1.0)
GEN-VHL-ST-CP-
482 (1.0)
GEN-VHL-ST-CP-
566 (1.0)
The following parameters are used for these requirements:
Longitudinal vehicle speed threshold below which function « CONTROL STEERING WHEEL CITYPARK » can be actuated: 10 km/h
38
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-007 (3)
When City Park starts to leave a parking space (SCP6), and this without
malfunctioning, a certain number of variables that indicate nominal
CONTROL_STEERING WHEEL_CITYPARK function operation must be activated.
IF:
SPEED_VEHICLE < 10 km/h
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT =Engine is running
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = request of SCP9 control
AND
the state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Available
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9
THEN:
C_basic_SCP9 = Standard value not modified by block DETERMINE_THE_TORQUE
AND
SITUATION_D_DISABLING_TEMPORAL_SCP9=activate torque (*)
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_ACTIVATION_RATE_LIMITATOR_SCP9
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
AND
Number of END STOP_TO_END STOP_STEERING WHEEL = 0
NB: (*) DURATION_ACTIVATION_RATE_LIMITATOR_SCP n’est lu que lors d’une activation with
SITUATION_D_DISABLING_TEMPORAL_SCP9
GEN-VHL-ST-CP-
589 (1.0)
GEN-VHL-ST-CP-
598 (1.0)
GEN-VHL-ST-CP-
855 (1.0)
GEN-VHL-ST-CP-
605 (1.0)
GEN-VHL-ST-CP-
857 (1.0)
GEN-VHL-ST-CP-
613 (1.0)
GEN-VHL-ST-CP-
770 (1.0)
The following parameters are used for these requirements:
Longitudinal vehicle speed threshold below which function « CONTROL STEERING WHEEL CITYPARK » can be actuated: 10 km/h
39
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-008 (1)
During nominal City Park operation with forward and backward movements
(SCP6), i.e. without malfunctioning, a certain number of variables that indicate
normal CONTROL_STEERING WHEEL_CITYPARK function operation must be
activated
IF:
SPEED_VEHICLE < 10 km/h
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING
WHEEL_MINI_SCP
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT =Engine is running
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = request of SCP6 control
AND
the state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6
AND
Number of END STOP_TO_END STOP_STEERING WHEEL < MAXI_NB_END
STOP_TO_END STOP_CPK_SCP6
THEN:
C_basic_SCP6 = standard value not modified by steering wheel takeover
AND
SITUATION_D_DISABLING_TEMPORAL_SCP6 = do not change anythinig (*)
AND
STATE_REGULATION_SCP6 = under control
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
NB: (*) DURATION_OF THE_RATE_LIMITATOR_SCP is only read during activation
or deactivation using SITUATION_D_DISABLING_TEMPORAL_SCP6. Therefore, in
this situation, it is not read
GEN-VHL-ST-CP-
466 (1.0)
GEN-VHL-ST-CP-
838 (1.0)
40
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-009 (3)
During nominal City Park operation when leaving a parking space (SCP9), i.e.
without malfunctioning, a certain number of variables that indicate normal
CONTROL_STEERING WHEEL_CITYPARK function operation must be
activated
IF:
SPEED_VEHICLE < 10 km/h
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING
WHEEL_MINI_SCP
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT =Engine is running
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = request of SCP9 control
AND
the state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9
AND
Number of END STOP_TO_END STOP_STEERING WHEEL < MAXI_NB_END
STOP_TO_END STOP_CPK_SCP9
THEN:
C_basic_SCP9 = Standard value not modified by a steering wheel takeover
AND
SITUATION_D_DISABLING_TEMPORAL_SCP9 = do not change anythinig (*)
AND
STATE_REGULATION_SCP9 = under control
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
NB: (*) DURATION_DU_RATE_LIMITATOR_SCP is only read during activation or
deactivation using SITUATION_D_DISABLING_TEMPORAL_SCP9. Therefore, in this
situation, it is not read
GEN-VHL-ST-CP-
598 (1.0)
GEN-VHL-ST-CP-
855 (1.0)
41
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-010 (3)
At City Park stop for a forward and backward movement (SCP6), and this
without malfunctioning, a certain number of variables that indicate normal
CONTROL_STEERING WHEEL_CITYPARK function operation must be
activated
IF:
SPEED_VEHICLE < 10 km/h
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING
WHEEL_MINI_SCP
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT =Engine is running
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = no request
AND
the state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6
THEN:
C_basic_SCP6 = Standard value modified by block DETERMINE_THE_TORQUE
AND
SITUATION_D_DISABLING_TEMPORAL_SCP6=de-activate torque (*)
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_REGULATION_SCP6 = available
AND
STATE_PS_FOR_CITYPARK = available
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
NB: (*) DURATION_DEACTIVATION_RATE_LIMITATOR_SCP is only read via
deactivation with SITUATION_D_DISABLING_TEMPORAL_SCP6
GEN-VHL-ST-CP-
456 (1.0)
GEN-VHL-ST-CP-
466 (1.0)
GEN-VHL-ST-CP-
838 (1.0)
GEN-VHL-ST-CP-
474 (1.0)
GEN-VHL-ST-CP-
815 (1.0)
GEN-VHL-ST-CP-
566 (1.0)
GEN-VHL-ST-CP-
575 (1.0)
GEN-VHL-ST-CP-
576 (1.0)
42
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-011 (3)
At City Park stop when leaving a parking space (SCP9), and this without
malfunctioning, a certain number of variables that indicate normal
CONTROL_STEERING WHEEL_CITYPARK function operation must be
activated
IF:
SPEED_VEHICLE < 10 KM/H
AND
SPEED_VEHICLE = NOT(invalid)
AND
TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING
WHEEL_MINI_SCP9
AND
TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid)
AND
ANGLE_STEERING WHEEL = NOT(invalid)
AND
SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid)
AND
STATE_MT =Engine is running
AND
TORQUE_D_ASSISTANCE_PS = NOT(invalid)
AND
SPEED_STEERING WHEEL = NOT(invalid)
AND
REQUEST_FUNCTION_CITYPARK = no request
AND
The state of the standard EPS assistance is “assistance on without STT limitation”
AND
STATE_PS_FOR_CITYPARK = Control in progress
AND
INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9
THEN:
C_basic_SCP9 = Standard value modified by block DETERMINE_THE_TORQUE
AND
SITUATION_D_DISABLING_TEMPORAL_SCP9=de-activate torque (*)
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_REGULATION_SCP9 = available
AND
STATE_PS_FOR_CITYPARK = available
AND
CAUSE_DEACTIVATION_CITYPARK = no control interruption
NB: (*) DURATION_DEACTIVATION_RATE_LIMITATOR_SCP is only read via
deactivation with SITUATION_D_DISABLING_TEMPORAL_SCP9
GEN-VHL-ST-CP-
589 (1.0)
GEN-VHL-ST-CP-
598 (1.0)
GEN-VHL-ST-CP-
855 (1.0)
GEN-VHL-ST-CP-
605 (1.0)
GEN-VHL-ST-CP-
857 (1.0)
GEN-VHL-ST-CP-
770 (1.0)
GEN-VHL-ST-CP-
671 (1.0)
GEN-VHL-ST-CP-
672 (1.0)
43
3.3.3.3 LIFE SITUATION WITH A MALFUNCTION
3.3.3.3.1 DEACTIVATION DUE TO HIGH VEHICLE SPEED
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-0012 (3)
The CONTROL_STEERING WHEEL_CITYPARK function makes the steering
wheel rotate at high speed (450 °/s) to be able to make maneuvers at high
vehicle speed. However, above a given vehicle speed, CONTROL_STEERING
WHEEL_CITYPARK function can no longer operate because, to follow the
trajectory, the steering wheel would have to rotate at more than 450 °/s.
IF
SPEED_VEHICLE > 10 KM/H (case: a)
OR
SPEED_VEHICLE = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK =
- vehicle speed too high (a)
- other failures (b)
GEN-VHL-ST-CP-
461 (1.0)
GEN-VHL-ST-CP-
477 (1.0)
GEN-VHL-ST-CP-
817 (1.0)
GEN-VHL-ST-CP-
500 (1.0)
GEN-VHL-ST-CP-
633 (1.0)
GEN-VHL-ST-CP-
796 (1.0)
GEN-VHL-ST-CP-
561 (1.0)
The following parameters are used for these requirements:
Parameter that gives the maximum vehicle speed above which SCP6 can no longer be used: 10 KM/H
44
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-013 (3)
CONTROL_STEERING WHEEL_CITYPARK function makes the steering
wheel rotate at high speed (450 °/s) to be able to make maneuvers at high
vehicle speed. However, above a given vehicle speed, CONTROL_STEERING
WHEEL_CITYPARK function can no longer operate because, to follow the
trajectory, the steering wheel would have to rotate at more than 450 °/s.
IF
SPEED_VEHICLE > 10 KM/H (case: a)
OR
SPEED_VEHICLE = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK =
- vehicle speed too high (a)
- other failures (b)
GEN-VHL-ST-CP-
469 (1.0)
GEN-VHL-ST-CP-
608 (1.0)
GEN-VHL-ST-CP-
859 (1.0)
GEN-VHL-ST-CP-
631 (1.0)
GEN-VHL-ST-CP-
755 (1.0)
GEN-VHL-ST-CP-
756 (1.0)
GEN-VHL-ST-CP-
744 (1.0)
The following parameters are used for these requirements:
Parameter that gives the maximum vehicle speed above which SCP9 can no longer be used: 10 KM/H
45
3.3.3.3.2 DEACTIVATION WITH STEERING WHEEL TORQUE
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-014 (3)
The CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order
to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it
is not the case, excess steering wheel torque exists and CityPark must be stopped.
IF
STATE_PS_FOR_CITYPARK = Control in progress
AND
REQUEST_RELEASE_CITYPARK= No Request for more than
DUREE_SORTIE_RELAXE_CITYPARK
OR
REQUEST_RELEASE_CITYPARK = Request
AND
TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERING WHEEL_MINI_SCP6
(case: a)
OR
TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_REGULATION_SCP6 = unavailable (a) invalid (b)
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK=
- takeover by the driver (a)
- torque sensor failure (b)
Requirement no. Description Upward
requirements
46
FONC-PS_CDC-
SCPx-015 (3)
CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order to
carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it is
not the case, excess steering wheel torque exists and CityPark must be stopped.
IF
STATE_PS_FOR_CITYPARK = Control in progress
AND
REQUEST_RELEASE_CITYPARK= No Request for more than
DUREE_SORTIE_RELAXE_CITYPARK
OR
REQUEST_RELEASE_CITYPARK = Request
IF
TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERING WHEEL_MINI_SCP
(case: a)
OR
TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK=
- takeover by the driver (a)
- torque sensor failure (b)
47
Numéro exigence Description Exigences Amont
FONC-DA_CDC-
SCPx-068 (1)
CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order
to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If
it is not the case, excess steering wheel torque exists and CityPark must be stopped.
The strategy of deactivation of the SCP6 function on the detection of a
steering wheel takeover by the drivermust be modified during release exit
phase to avoid deactivating the control
IF
STATE_PS_FOR_CITYPARK = Control in progress
AND
REQUEST_RELEASE_CITYPARK= switch from REQUEST to NO
REQUEST During less than DUREE_SORTIE_RELAXE_CITYPARK
ET
TORQUE_STEERING WHEEL_MEASUREMENT >
TORQUE_STEERINGWHEEL_MINI_SCP_RELEASE during DURATION_TORQUE_STEERING
WHEEL_MINI_SCP_RELEASE (case : a)
OR
TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK=
- takeover by the driver (a)
- torque sensor failure (b)
Numéro exigence Description Exigences Amont
48
FONC-DA_CDC-
SCPx-069 (1)
CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order
to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If
it is not the case, excess steering wheel torque exists and CityPark must be stopped.
The strategy of deactivation of the SCP6 function on the detection of a
steering wheel takeover by the drivermust be modified during release exit
phase to avoid deactivating the control
IF
STATE_PS_FOR_CITYPARK = Control in progress
AND
REQUEST_RELEASE_CITYPARK= switch from REQUEST to NO
REQUEST During less than DUREE_SORTIE_RELAXE_CITYPARK
ET
TORQUE_STEERING WHEEL_MEASUREMENT >
TORQUE_STEERINGWHEEL_MINI_SCP_RELEASE during DURATION_TORQUE_STEERING
WHEEL_MINI_SCP_RELEASE (case : a)
OR
TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b)
AND
CAUSE_DEACTIVATION_CITYPARK=
- takeover by the driver (a)
- torque sensor failure (b)
DEACTIVATION WITH STEERING WHEEL ANGLE
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-016 (3)
The CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel
position. If the measurement of this angle is invalid, City Park must be stopped
IF
ANGLE_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= angular error too large
GEN-VHL-ST-CP-
478 (1.0)
GEN-VHL-ST-CP-
818 (1.0)
49
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-017 (3)
The CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel
position. If the measurement of this angle is invalid, City Park must be stopped
IF
ANGLE_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= angular error too large
GEN-VHL-ST-CP-
609 (1.0)
GEN-VHL-ST-CP-
860 (1.0)
50
3.3.3.3.3 DEACTIVATION WITH STEERING WHEEL ANGLE SET-POINT
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-018 (3)
CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel
position. If the set-point value is invalid, City Park must be stopped
IF
SET-POINT_ANGLE_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK = Other failures
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-019 (3)
CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel
position. If the set-point value is invalid, City Park must be stopped
IF
SET-POINT_ANGLE_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK = Other failures
51
3.3.3.3.4 DEACTIVATION WITH THERMAL ENGINE STATE
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-020 (3)
The assistance actuator cannot operate when the engine is stopped, because it
consumes too much current. Therefore, it can no longer ensure steering wheel
angle control that requires high assistance.
IF
STATE_MT = NOT(engine is running)(*)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=unavailable
AND
CAUSE_DEACTIVATION_CITYPARK=other failures
(*)  Switched off stalled OR Driven start OR Switched off/ Stop OR Driven re-start
OR In preparation OR Autonomous start OR Autonomous re-start
GEN-VHL-ST-CP-
464 (1.0)
GEN-VHL-ST-CP-
485 (1.0)
GEN-VHL-ST-CP-
823 (1.0)
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-021 (3)
The assistance actuator cannot operate when the engine is stopped, because it
consumes too much current. Therefore, it can no longer ensure steering wheel
angle control that requires high assistance.
IF
STATE_MT = NOT(engine is running)(*)
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=unavailable
AND
CAUSE_DEACTIVATION_CITYPARK=other failures
(*)  Switched off stalled OR Driven start OR switched off/ Stop OR Driven re-start OR
In preparation OR Autonomous start OR Autonomous re-start
GEN-VHL-ST-CP-
596 (1.0)
GEN-VHL-ST-CP-
616 (1.0)
GEN-VHL-ST-CP-
866 (1.0)
52
3.3.3.3.5 ASSISTANCE ACTUATOR FAILURE = initialization, in failure mode or broken down
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-022 (3)
If there is an assistance actuator failure, SCP6 control must stop because the
torque that is required for control is not longer provided. Assistance actuator
failure concerns cases of stopping with or without re-configuration. In case of
re-configuration, the torque that is required for control is no longer provided.
IF
If the standard EPS assistance is in “assistance off” after a failure mode
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=de-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK= invalid
AND
CAUSE_DEACTIVATION_CITYPARK=other failures
GEN-VHL-ST-CP-
457 (1.0)
GEN-VHL-ST-CP-
458 (1.0)
GEN-VHL-ST-CP-
464 (1.0)
GEN-VHL-ST-CP-
473 (1.0)
GEN-VHL-ST-CP-
839 (1.0)
GEN-VHL-ST-CP-
484 (1.0)
GEN-VHL-ST-CP-
822 (1.0)
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-023 (3)
If there is an assistance actuator failure, SCP9 control must stop because the
torque that is required for control is not longer provided. Assistance actuator
failure concerns cases of stopping with or without re-configuration. In case of
re-configuration, the torque that is required for control is no longer provided.
IF
If the standard EPS assistance is in “assistance off” after a failure mode
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=de-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK= invalid
AND
CAUSE_DEACTIVATION_CITYPARK=other failures
GEN-VHL-ST-CP-
590 (1.0)
GEN-VHL-ST-CP-
591 (1.0)
GEN-VHL-ST-CP-
596 (1.0)
GEN-VHL-ST-CP-
604 (1.0)
GEN-VHL-ST-CP-
856 (1.0)
GEN-VHL-ST-CP-
615 (1.0)
GEN-VHL-ST-CP-
865 (1.0)
53
3.3.3.3.6 DEACTIVATION WITH INVALID REQUEST
Requirement no. Description Upwards
requirements
FONC-DA_CDC-
SCPx-066 (1)
When the EPS is being controlled by SCP6
IF
REQUEST_FUNCTION_CITYPARK = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6= de-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_DA_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
FONC-DA_CDC-
SCPx-067 (1)
When the EPS is being controlled by SCP9
IF
REQUEST_FUNCTION_CITYPARK = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9= deactivate the
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_ LIMITATOR _SCP
AND
STATE_DA_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
54
3.3.3.3.7 DEACTIVATION WITH THE STEERING WHEEL SPEED
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-024 (§)
The CONTROL_STEERING WHEEL_CITYPARK function uses steering wheel
speed. If the measurement of this speed is invalid, City Park must be stopped
IF
SPEED_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-025 (3)
CONTROL_STEERING WHEEL_CITYPARK function uses la steering wheel
speed. If the measurement of this speed is invalid, City Park must be stopped
IF
SPEED_STEERING WHEEL = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
55
3.3.3.3.8 DEACTIVATION WITH TORQUE_D_ASSISTANCE_PS
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-026 (3)
The CONTROL_STEERING WHEEL_CITYPARK function uses the PS
assistance torque. If this torque is invalid, City Park must be stopped
IF
TORQUE_D_ASSISTANCE_PS = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-027 (3)
CONTROL_STEERING WHEEL_CITYPARK function uses the PS assistance
torque. If this torque is invalid, City Park must be stopped
IF
TORQUE_D_ASSISTANCE_PS = invalid
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK= Other failures
56
3.3.3.3.9 DEACTIVATION WITH CONTROL FAILURE
There are 3 types of steering wheel angle control problem detection:
1: Static: error between set-point and measurement, at fixed set-point angle
2: Dynamic: maximum error during transitions
3: Performance: typical difference between set-point and measurement
1: Static error between set-point and the steering wheel angle measurement
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-031 (2)
Steering wheel position control must have a static error that is lower than a
threshold can be configured to stop the function:
TORQUE_ACTUATOR_CITYPARK_SCP6 calculation if the control does not
occur correctly.
IF
Error between set-point and the steering wheel angle measurement>
ERROR_STATIC_CONTROL_SCP6
AND
Observation duration when the static error is exceeded >
DURATION_ ERROR_STATIC_CONTROL_SCP6
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK=angular error too large
GEN-VHL-ST-CP-
743 (2.0)
GEN-VHL-ST-CP-
501 (2.0)
GEN-VHL-ST-CP-
635 (2.0)
GEN-VHL-ST-CP-
760 (2.0)
GEN-VHL-ST-CP-
745 (2.0)
GEN-VHL-ST-CP-
746 (2.0)
The following parameters are used for these requirements:
Parameter that gives the maximum static error between set-point and measurement of the steering wheel angle:
ERROR_STATIC_CONTROL_SCP6
Parameter that gives the amount by which the static error has exceeded:
DURATION_ERROR_STATIC_CONTROL_SCP6
57
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-032 (3)
Steering wheel position control must have a static error that is lower than a
threshold can be configured to stop function:
TORQUE_ACTUATOR_CITYPARK_SC96 calculation if the control does not
occur correctly.
IF
Error between set-point and steering wheel angle measurement >
ERROR_STATIC_CONTROL_SCP9
AND
Duration of the observation when the static error is exceeded >
DURATION_ ERROR_STATIC_CONTROL_SCP9
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP9 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK=invalid
AND
CAUSE_DEACTIVATION_CITYPARK=angular error too large
GEN-VHL-ST-CP-
743 (2.0)
GEN-VHL-ST-CP-
735 (2.0)
GEN-VHL-ST-CP-
501 (2.0)
GEN-VHL-ST-CP-
635 (2.0)
GEN-VHL-ST-CP-
789 (2.0)
GEN-VHL-ST-CP-
662 (2.0)
GEN-VHL-ST-CP-
747 (2.0)
The following parameters are used for these requirements:
Parameter that gives the maximum static error between set-point and measurement of the steering wheel angle:
ERROR_STATIC_CONTROL_SCP9
Parameter that gives the amount by which the static error has exceeded:
DURATION_ERROR_STATIC_CONTROL_SCP9
58
2: Dynamic error between set-point and steering wheel angle measurement
Requirement no. Description Upward
requirements
FONC-PS_CDC-
SCPx-033 (3)
The steering wheel position control must have a correct dynamic error to
ensure good City Park performance. The dynamic error is a maximum
deviation change between the set-point and the steering wheel angle
measurement,
from instant t to previous sample
Given: Deviation(t) = set-point(t)-measurement(t) of steering wheel angle
Deviation(t) is the deviation between the set-point and the
measurement at given instant t
p = sampling period
IF
Deviation(t) – Deviation(t-p) > ERROR_DYNAMIC_CONTROL_SCP6
THEN
SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque
TORQUE_ACTUATOR_CITYPARK_SCP6 with delay =
DURATION_DEACTIVATION_RATE_LIMITATOR_SCP
AND
STATE_PS_FOR_CITYPARK= invalid
AND
CAUSE_DEACTIVATION_CITYPARK=angular error too large
GEN-VHL-ST-CP-
743 (2.0)
GEN-VHL-ST-CP-
501 (2.0)
GEN-VHL-ST-CP-
635 (2.0)
GEN-VHL-ST-CP-
745 (2.0)
GEN-VHL-ST-CP-
746 (2.0)
The following parameters are used for these requirements:
Parameter that gives the maximum dynamic error between set-point and steering wheel angle measurement, for 2
successive samples:
ERROR_DYNAMIC_CONTROL_SCP6
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
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IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc
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IASV_COFS08_1406_CityPark_Function_rev4_(based_on_IASV_COFS08_1020_rev3_English).doc

  • 1. FUNCTION TS : CityPark_DAE REFERENCE IND PROJECT PAGE IASV_COFS08_1020 OR A9 1 THIS DOCUMENT BELONGS TO PSA AND CANNOT BE REPRODUCED OR FORWARDED WITHOUT ITS AGREEMENT Reference: IASV_COFS08_1020 Applicable to project: A9 Application date: 06/05/09 Number of pages: 85 ST City Park function: additional clause to EPS specifications Subject: This document is an additional clause to EPS specifications that regroups the functions that are required to realize the CityPark function. Written by Name: Denis PALLIER Entity: DITV/IASV/COFS/SARF Date: Signature: Checked by Name: REVEILLE Tony LEFRANC Sébastien Entity: DITV/IASV/COFS/SARF/MSAF DRIA/ICEM/SMEE Date: Signature: Approved by Name: BECKER Nicolas Entity: DITV/IASV/COFS/SARF Date: Signature:
  • 2. 2 UPDATES Index Date Nature of the modifications OR 23/07/08 First version 1.0 28/11/08 Temperature and EPS voltage thresholds for a nominal City Park operation function added 2.0 31/03/10 - Release request taken into account when temporarily immobilizing the vehicle: Requirements FONC-DA_CDC-SCPx-061, FONC-DA_CDC-SCPx-062, FONC-DA_CDC- SCPx-063, FONC-DA_CDC-SCPx-064, FONC-DA_CDC-SCPx-065 added - Requirements GEN-SC-DC-[CityPark].0238, GEN-SC-DC-[CityPark].0239, GEN-SC-DC- [CityPark].0240, GEN-SC-DC-[CityPark].0241, GEN-SC-DC-[CityPark].0242, FONC- DA_CDC-SCPx-028 deleted - TORQUE_WHEEL_MINI_SCP6 and TORQUE_WHEEL_MINI_SCP9 become the same parameter = TORQUE_WHEEL_MINI_SCP - TORQUE_WHEEL_MAXI_SCP6 and TORQUE_WHEEL_MAXI_SCP9 become the same parameter = TORQUE_WHEEL_MAXI_SCP - DURATION_DEACTIVATION_RATE_LIMITATOR_SCP6 and DURATION_DEACTIVATION_RATE_LIMITATOR_SCP9 become the same parameter = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP - DURATION_ACTIVATION_RATE_LIMITATOR_SCP6 and DURATION_ACTIVATION_RATE_LIMITATOR_SCP9 become the same parameter = DURATION_ACTIVATION_RATE_LIMITATOR_SCP 3.0 21/04/10 Requirements: FONC-DA_CDC-SCPx-056, GEN-SC-DC-[CityPark].0233, GEN-SC-DC-[CityPark].0234, GEN-SC-DC-[CityPark].0236, GEN-SC-DC-[CityPark].0244, FONC-DA_CDC-SCPx-005, FONC-DA_CDC-SCPx-006, FONC-DA_CDC-SCPx-007, FONC-DA_CDC-SCPx-008, FONC-DA_CDC-SCPx-009, FONC-DA_CDC-SCPx-010, FONC-DA_CDC-SCPx-011, FONC-DA_CDC-SCPx-012, FONC-DA_CDC-SCPx-013, FONC-DA_CDC-SCPx-014, FONC-DA_CDC-SCPx-015, FONC-DA_CDC-SCPx-016, FONC-DA_CDC-SCPx-017, FONC-DA_CDC-SCPx-018, FONC-DA_CDC-SCPx-019, FONC-DA_CDC-SCPx-020, FONC-DA_CDC-SCPx-021, FONC-DA_CDC-SCPx-022, FONC-DA_CDC-SCPx-023, FONC-DA_CDC-SCPx-024, FONC-DA_CDC-SCPx-025, FONC-DA_CDC-SCPx-026, FONC-DA_CDC-SCPx-027, FONC-DA_CDC-SCPx-031, FONC-DA_CDC-SCPx-032, FONC-DA_CDC-SCPx-033, FONC-DA_CDC-SCPx-034, FONC-DA_CDC-SCPx-037, FONC-DA_CDC-SCPx-038, FONC-DA_CDC-SCPx-039, FONC-DA_CDC-SCPx-040, FONC-DA_CDC-SCPx-043, FONC-DA_CDC-SCPx-044 modified Requirements : FONC-DA_CDC-SCPx-029, FONC-DA_CDC-SCPx-030, FONC-DA_CDC-SCPx-035, FONC-DA_CDC-SCPx-036 deleted Requirements: FONC-DA_CDC-SCPx-066, FONC-DA_CDC-SCPx-067 created
  • 3. 3 TABLE OF CONTENTS 1 SUBJECT .........................................................................................................................................................................6 1.1 Contractual value of the specification...........................................................................................................................6 1.2 Technical proposal of the Automotive Component Manufacturer................................................................................6 1.3 Responsibilities of the Automotive Component Manufacturer.....................................................................................6 1.3.1 Generalities.....................................................................................................................................................6 1.3.2 Responsibility sharing during the development phase....................................................................................6 2 SPECIFICATION PERIMETER...................................................................................................................................7 3 FUNCTIONAL SPECIFICATIONS..............................................................................................................................8 3.1 PROVISIONS AND GENERAL DESCRIPTION OF THE SYSTEM........................................................................8 3.1.1 MAIN FUNCTION: « ENTERING A PARKING SPACE » (SCP6)............................................................8 3.1.2 MAIN FUNCTION: « LEAVING A PARKING SPACE » (SCP9) ..............................................................8 3.1.3 INDUCED FUNCTION: « CONTROL_STEERING WHEEL_CITYPARK» .............................................8 3.1.4 CityPark_EPS activation conditions.............................................................................................................11 3.1.5 City Park_EPS deactivation conditions ........................................................................................................11 3.2 DETAILED FUNCTIONAL DESCRIPTION............................................................................................................12 3.2.1 Interfaces of CONTROL_STEERING WHEEL_CITYPARK function ......................................................12 3.2.1.1 FUNCTIONAL INPUTS.........................................................................................................................13 3.2.1.2 Flow of the functional outputs .................................................................................................................14 3.2.2 CAN INTERFACES.....................................................................................................................................15 3.2.2.1 State controller.........................................................................................................................................16 3.2.2.2 TRANSITIONS .......................................................................................................................................16 3.2.2.3 MALFUNCTIONING PART ..................................................................................................................21 3.2.2.3.1 SAFETY DATA ......................................................................................................................................21 3.2.2.3.2 DISABLING OF CITYPARK CONTROL .............................................................................................21 3.2.2.3.3 REHABILITATION CONDITIONS.......................................................................................................22 3.2.2.3.4 RESET MANAGEMENT........................................................................................................................22 3.3 Functional requirements of the Citypark function ......................................................................................................23 3.3.1 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS........................................................23 3.3.1.1 THE 3 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS .......................................23 3.3.1.1.1 CALCULATE THE ROUGH TORQUE.................................................................................................23 3.3.1.1.1.1 ASSIST ACTUATOR DIMENSIONING ..........................................................................................23 3.3.1.1.1.2 TORQUE CALCULATION BEFORE DISABLING.........................................................................27 3.3.1.1.2 DETERMINE THE TEMPORAL DISABLING.....................................................................................27 3.3.1.1.3 DETERMINE THE TORQUE THAT MUST BE APPLIED..................................................................27 3.3.1.2 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEM INTERFACES ............................28 3.3.1.3 INTERNAL FLOWS: SUB-SYSTEM INPUTS AND OUTPUTS.........................................................29 3.3.2 „ CALCULATE THE BASIC TORQUE» SUB-SYSTEM..........................................................................31
  • 4. 4 3.3.2.1 NOMINAL CASE OF THE RELEASED STEERING WHEEL ............................................................31 3.3.2.2 STEERING WHEEL TAKEOVER BY THE DRIVER..........................................................................32 3.3.2.2.1.1 DRIVER TAKEOVER MANAGEMENT..........................................................................................32 3.3.2.2.1.2 ANALYSIS OF THE POSSIBILITY OF HARD POINTS ................................................................32 3.3.3 „ DETERMINE THE TEMPORAL DISABLING » SUB-SYSTEM ..........................................................35 3.3.3.1 DESCRIPTION OF THE TEMPORAL DISABLING............................................................................35 3.3.3.2 NOMINAL LIFE SITUATIONS.............................................................................................................36 3.3.3.2.1 PRELIMINARY REQUIREMENTS.......................................................................................................36 3.3.3.2.2 ACTIVATION AND OPERATION AND STOP WITHOUT MALFUNCTION ..................................37 3.3.3.3 LIFE SITUATION WITH A MALFUNCTION......................................................................................43 3.3.3.3.1 DEACTIVATION DUE TO HIGH VEHICLE SPEED ..........................................................................43 3.3.3.3.2 DEACTIVATION WITH STEERING WHEEL TORQUE....................................................................45 3.3.3.3.3 DEACTIVATION WITH STEERING WHEEL ANGLE.......................................................................48 3.3.3.3.4 DEACTIVATION WITH STEERING WHEEL ANGLE SET-POINT..................................................50 3.3.3.3.5 DEACTIVATION WITH THERMAL ENGINE STATE.......................................................................51 3.3.3.3.6 ASSISTANCE ACTUATOR FAILURE = initialization, in failure mode or broken down ....................52 3.3.3.3.7 DEACTIVATION WITH INVALID REQUEST....................................................................................53 3.3.3.3.8 DEACTIVATION WITH THE STEERING WHEEL SPEED ...............................................................54 3.3.3.3.9 DEACTIVATION WITH TORQUE_D_ASSISTANCE_PS..................................................................55 3.3.3.3.10 DEACTIVATION WITH CONTROL FAILURE..............................................................................56 3.3.3.3.11 DEACTIVATION WITH THERMAL SAFETY ...............................................................................60 3.3.3.3.12 DEACTIVATION WITH MAXIMUM NUMBER OF CYCLES......................................................62 3.3.4 SUB-SYSTEM: « DETERMINE THE TORQUE THAT MUST BE APPLIED »......................................64 3.3.4.1 APPLICATION OF THE TEMPORAL DISABLING............................................................................64 3.3.4.2 REQUESTED TORQUE TOO HIGH.....................................................................................................66 3.3.4.3 RELIEF OF THE STEERING SYSTEM (release)..................................................................................68 3.3.5 FURTHER REQUIREMENTS ....................................................................................................................72 3.3.5.1 Requirements that are not related to the customer ...................................................................................72 3.3.5.2 Performance requirements .......................................................................................................................72 3.4 CHARACTERIZATION TEST BENCH TESTS: .....................................................................................................73 3.4.1 Performance of the City park angle check....................................................................................................73 3.4.1.1 Objective..................................................................................................................................................73 3.4.1.2 Test parts..................................................................................................................................................73 3.4.1.3 Assembly .................................................................................................................................................73 3.4.1.4 Load .........................................................................................................................................................73 3.4.1.5 Target.......................................................................................................................................................74 3.4.1.6 Miscellaneous ..........................................................................................................................................75 3.4.2 EPS ENDURANCE PERFORMANCE RELATED TO THE CITYPARK FUNCTION AVAILABILITY 75 3.4.2.1 Objective..................................................................................................................................................75
  • 5. 5 3.4.2.2 Test parts..................................................................................................................................................75 3.4.2.3 Assembly .................................................................................................................................................75 3.4.2.4 Load .........................................................................................................................................................76 3.4.2.5 Target.......................................................................................................................................................77 3.4.2.6 Miscellaneous ..........................................................................................................................................77 3.5 OPERATIONAL SAFETY.........................................................................................................................................78 3.5.1 Operational safety functional requirements ..................................................................................................78 3.5.1.1 Failure detections.....................................................................................................................................78 3.5.1.2 Failure modes...........................................................................................................................................78 3.5.1.3 Leaving failure mode ...............................................................................................................................78 3.5.2 Requirements relative to availability and safety...........................................................................................78 3.5.2.1 Requirements relative to the automotive component manufacturer supply .............................................78 3.5.2.1.1 Quantitative requirements on critical outputs ..........................................................................................78 3.5.2.1.2 Requirements regarding error detection, consistence checks and failure modes .....................................81 3.5.2.2 Information requirements regarding the supply and that are required for the system integration............82 3.6 APPENDICES ............................................................................................................................................................83 3.6.1 Parameters ....................................................................................................................................................83
  • 6. 6 1 SUBJECT 1.1 CONTRACTUAL VALUE OF THE SPECIFICATION This specification will only have a contractual value when it is associated to an order from the Purchasing Department. 1.2 TECHNICAL PROPOSAL OF THE AUTOMOTIVE COMPONENT MANUFACTURER This document specifies the EPS-specific City Park function, that enables realization of the City Park function (SCP6/SCP9). 1.3 RESPONSIBILITIES OF THE AUTOMOTIVE COMPONENT MANUFACTURER 1.3.1 Generalities The requirements of this STE must be satisfied. In particular, the automotive component manufacturer must ensure the occurrence of the critical safety events. The automotive component manufacturer is responsible ensuring that its equipment complies with this STE. The acceptance of drawings or documents by the automobile manufacturer does not release the automotive component manufacturer from his responsibilities. The automotive component manufacturer commits to participating in system adjustment if the automobile manufacturer requires it and to collaborating with him in order to ensure proper system commissioning. If necessary and on request from the automobile manufacturer, the automotive component manufacturer must allow access to all technical information, detailed drawings, component specifications, manufacturing and control processes, etc., within a delay that is justified by the project schedule. The automotive component manufacturer may require all useful information that would not be part of this STE, on the condition that he can justify the necessity for it within the framework of the project. The automotive component manufacturer commits to collaborating with other equipment suppliers that are associated to project development. 1.3.2 Responsibility sharing during the development phase The industrial launch agreement is pronounced by PSA plate-form, engineering and purchasing Management.
  • 7. 7 2 SPECIFICATION PERIMETER This document is an additional clause to EPS specifications that regroups the functions that are required to realize the global CityPark function. The part of the City Park function that is allocated in the EPS and that monitors the steering wheel set-point-up will be called CityPark_EPS. Existing EPS Specifications: Global specification [1] Detailed system specification [2] Software specification [3] I/S function and interface [4] Diag specification [5] Specification elements Concerned EPS specification Function service and description: ext AF Detailed system specification Failures and application of failure modes Software specification Operational Safety Study: operational safety- related requirements for the function Detailed system specification Interfaces of the system with the external environment I/S function and interface
  • 8. 8 3 FUNCTIONAL SPECIFICATIONS 3.1 PROVISIONS AND GENERAL DESCRIPTION OF THE SYSTEM The CityPark function that consists of two functions, SCP6 and SCP9, is a comfort function: - The SCP6 function consists of assisting the driver in entering a parallel parking space by controlling the steering system. - The SCP9 function consists of assisting the driver in getting out of a parallel parking space by controlling the steering system. This function consists of:  Controlling the steering wheel position via an external position set-point by controlling the steering system.  Assisting the driver during maneuvering phases. 3.1.1 MAIN FUNCTION: « ENTERING A PARKING SPACE » (SCP6) The aim of the SCP6 function is to control the steering wheel so that is follows a set-point required from the City Park controller, with the steering wheel released. The set-point given by City Park creates steering wheel movements that are necessary to enter a parking space. The driver drives slowly (< 10 Km/h). He controls acceleration, braking and changing the gear ratio but does not hold the steering wheel. City Park calculates the instant steering wheel angle set-point according to vehicle speed. NB: we speak of torque without specifying that they are at the level of the engine or pinion (equivalent to steering wheel). The torques correspond to motor currents if this type of power actuator is used. 3.1.2 MAIN FUNCTION: « LEAVING A PARKING SPACE » (SCP9) The aim of function SCP9 is to control the steering wheel so that it follows a set-point required from the City Park controller, with the steering wheel released. The set-point given by City Park creates steering wheel movements that are necessary to leave a parking space. The driver drives slowly (< 10 Km/h). He controls acceleration, braking and changing the gear ratio but does not hold the steering wheel. City Park calculates the instant steering wheel angle set-point according to vehicle speed. NB: we speak of torque without specifying that they are at the level of the engine or pinion (equivalent to steering wheel) 3.1.3 INDUCED FUNCTION: « CONTROL_STEERING WHEEL_CITYPARK» The function is the same for SCP6 and SCP9. The SCP6 case is described: SCP6 continuously calculates a torque: « SCP6 actuator torque ». It does this for as long as the Assistance actuator control laws are active. This torque is zero when SCP6 does not control the steering wheel position (see below). SCP6 controls the steering wheel position when: (1) the SCP6 activation request is ON (2) when the steering wheel is released (3) when the internal combustion engine is running (4) and when the vehicle speed is less than a threshold (e.g. 10 Km/h)
  • 9. 9 Control is provided by calculating the torque (Csol) and the torque (Casservissement). The torque (Casservissement) comes from controlling the steering wheel position using the steering wheel angle set-point sent by City Park and the angle sensor measurement. (Csol) is added to (Casservissement) in order to create the total torque (Ctotal) to be applied. The introduction of this CityPark_EPS function can be represented by the following diagram: FONC-PS_CDC- SCPx-049 (1) The CityPark_EPS function is activated by a City Park control request from the CityPark ECU (ECU_CPK) FONC-PS_CDC- SCPx-050 (1) The CityPark function must enable follow the CityPark angle set-point from the CPK ECU when the vehicle speed is null or while the vehicle is running (Vehicle speed<10 km/h) and without any additional driver torque (free steering wheel). FONC-PS_CDC- SCPx-051 (1) The CityPark_EPS function must not modify the driver´s steering wheel torque level when the driver takes it over again FONC-PS_CDC- SCPx-052 (1) The CityPark_EPS function must be clear for the driver (no additional elasticity, inertia, etc.) FONC-PS_CDC- SCPx-053 (1) The CityPark_EPS function must only operate when the steering wheel is released FONC-PS_CDC- SCPx-054 (1) The CityPark_EPS function must be resistant to adherence and to vehicle weight The following input information is required by the CityPark_EPS function:  Vehicle speed, already provided for the EPS.  Absolute angle steering wheel. Comes from a WAS (wheel angle sensor) (external to the EPS)  Steering wheel torque. Information is internal to the EPS  EPS motor speed. Information is internal to the EPS  EPS motor torque. Information is internal to the EPS  Steering wheel angle sensor, CityPark reference coming from the CityPark ECU  Activation request of the CityPark_EPS function (SCP6 & SCP9) coming from the CityPark ECU  CityPark ECU status  Internal EPS operational state (nominal, derating, default, etc. ) Steering torque ECU CPK/AAS ECU DAE CityPark_DAE Communication
  • 10. 10 The CityPark_EPS module is a software module in the EPS that carries out the City Park function, i.e. turn the steering wheel and wheels so that the vehicle follows the trajectory requested by the City Park ECU. This module is therefore a position control on external set-point. Position control FONC-PS_CDC- SCPx-055 (1) This module is activated via functional flow REQUEST_ACTIVATION_CITYPARK (ie CAN IS signals « CityPark function request » AND « CityPark control request ») from the CPK ECU. Flow ‘’ CityPark angle set-point’’ from the CPK ECU is then the set-point that must be followed. FONC-PS_CDC- SCPx-056 (1) This module must control the steering wheel angle on flow ‘’CityPark angle set-point’’ from the CPK ECU. This angle set-point must be saturated in position and speed by module CITYPARK_EPS (Angle_CityPark_max = 90% of the steering wheel range (can be configured); Speed_Steering wheel_CityPark_max=450°/s (can be configured)). FONC-PS_CDC- SCPx-057 (1) The angle measurement must follow the CityPark angle set-point with a total maximum constant delay of 100ms that consists of the pure delay and the regulation error. It represents a dynamic error of maximum 45° for a steering wheel speed of 450°/s. The static error must be less than 5°. FONC-PS_CDC- SCPx-058 (1) Power assistance must not cause any vibration (visual or audible). Control performances must not be disturbed by:  Vehicle weight variations  Climatic conditions (temperature)  Ground adherence Takeover by the driver If the driver takes the steering wheel during a CityPark_EPS module control over, the angle control must be deactivated in a manner that is clear for the driver. The driver must not feel any annoyance or have a feeling of pulling from the EPS motor torque. The driver must regain his nominal assistance level without having felt any abnormal torque (peak). Deactivation at the end of the control During CITYPARK_EPS module deactivation (functional deactivation or failure mode), a phase of relaxation is started that enables let the position control disappear. The motor torque is released progressively (determined by a release time) until it reaches value zero.  Relaxation time: 2s (can be configured)
  • 11. 11 3.1.4 CityPark_EPS activation conditions FONC-PS_CDC- SCPx-059 (1) The CityPark_EPS function can only be activated if all the following conditions are satisfied:  EPS configured in CityPark mode  No CityPark ECU failure  No internal EPS failure  No severe derating (impossibility to apply the angle set-point over the entire range)  State_MT information set to engine running  IGN set to ON  Checksum and process counter valid (details to be given)  Steering wheel torque < Threshold 0 (0.5 Nm that can be calibrated)  Vehicle speed < 10 km/h (regulatory)  The request of CityPark_EPS activation from the CityPark ECU (activation request (SCP6 or SCP9) must be confirmed by 3 (number that can be calibrated) successive activation requests)  For SCP6, reserve gear must be engaged (condition of control start) NB: the function must be able to carry out 5 City Park parking maneuvers without falling in derating. 1 City Park cycle corresponds to 5 City Park parking maneuvers. 3.1.5 City Park_EPS deactivation conditions FONC-PS_CDC- SCPx-060 (1) The nominal deactivation condition of the City Park function is the change from MT state to stalled, stopped or switched off. A transition phase must be taken into account to manage the CityPark_EPS extinction in these cases (steering wheel relaxation) In case of function locking via an (curb, etc.), the function must extinguish. The CityPark_EPS function must be deactivated if one of the following conditions is satisfied:  CityPark ECU failure  internal EPS failure  severe derating (impossibility to apply the angle set-point over the entire range)  State_MT information set to engine stalled, stopped or switched off  Checksum and process counter invalid  Steering wheel torque > Threshold 2 (3Nm that can be calibrated, for 50 ms that can be calibrated)  Vehicle speed > 10km/h (regulatory)  CityPark_EPS deactivation request from the CityPark ECU  Steering wheel angle – error by more than 45° (that can be calibrated) compared with the City Park angle set-point Definition of the citypark parking maneuver: A City Park parking maneuver corresponds to a rotational cycle of the steering wheel from end stop to end stop starting from its central position and coming back to the middle Definition of a City Park cycle: A City Park cycle consists of a maximum of 5 City Park parking maneuvers before function deactivation. The maneuver is considered as terminated after 5 City Park parking maneuvers.
  • 12. 12 3.2 DETAILED FUNCTIONAL DESCRIPTION 3.2.1 Interfaces of CONTROL_STEERING WHEEL_CITYPARK function Internal EPS data External EPS data CONTROL STEERING WHEEL CITYPARK ETAT_MT TORQUE_STEERING WHEEL_MEASUREMENT ANGLE_STEERING WHEEL SPEED_VEHICULE CONSIGNE_ANGLE_STEERING WHEEL ETAT_DA_POUR_CITYPARK CAUSE_DEACTIVATION_CITYPARK TORQUE_STEERING WHEEL_CITYPARK MARCHE_AR_BV TORQUE_D_ASSISTANCE_DA TORQUE_ACTUATOR_CITYPARK REQUEST_ACTIVATION_CITYPARK SPEED_STEERING WHEEL + + Torque_Total_Actuator_d’Assistance Torque_calculated by functions : calculate TORQUE_ACTUATOR_CITYPARK SCP6 or SCP9. Ces 2 torques se rajoutent à ceux des lois de commandes classiques. Assistance actuator torque of the standard control lawswithout functions : calculate TORQUE_ACTUATOR_CITYPARK SCP6 and SCP9 Sensor wheel torque after hard phase compensation and correction of zero sensor (optimized steering wheel torque from CAN protocol) ETAT_DA INDICATOR_HEATING _OF _DA
  • 13. 13 3.2.1.1 FUNCTIONAL INPUTS Internal variable Creator Type Update Range or values Delay outside CAN Accurac y Resolu tion Unit Description TORQUE_D_ASSISTANCE_ PS PS (for example EPS) Numeric =< 6 ms -Value: -60 to 60 -Invalid < 2 ms 0,1 =< 0,1 N.m Actuator assistance torque of standard control laws without functions CONTROL_STEERING WHEEL_CITYPARK SCP6 and SCP9 City Park (*) This torque is used to calculate the current City Park actuator torque SPEED_VEHICLE CAN bus (ABS / ESP) Numeric 20 ms -Value: 0 to 100 -Invalid - 1 0,1 m/s Front wheel average TORQUE_STEERING WHEEL_MEASUREMENT Sensor on PS column Numeric =< 2 ms -Value: -10 to 10 -Invalid < 2 ms 0,1 =< 0,1 N.m Steering wheel torque measured by a sensor at the top and bottom of the column, between steering wheel and pinion ANGLE_STEERING WHEEL Sensor on PC steering wheel Numeric 10 ms -Value: -780 to 780 -Invalid < 5 ms =< +/- 2,5 0,1 Deg PS steering wheel angle SPEED_STEERING WHEEL Calculate in PS ECU Numeric 10 ms -Value: -1016 - Invalid -Value: 1016 -Invalid < 5 ms =< +/- 15 =< 7,5 Deg/s (for an EPS assessed from motor variables) SET- POINT_ANGLE_STEERING WHEEL CAN bus (CityPark ECU) Numeric 20 ms -Value: -780 to 780 -Invalid < 5 ms =< +/- 0,5 0,1 Deg - Speed maxi = 450°/s / - Accel max=1000 °/s2 - Speed maxi and Accel maxi, can be configured - Angle max=90% of the stroke - filtered by 2ind order: (om=31rd/s Psi=0,7) STATE_MT CAN bus Listed 100 ms -Switched off stalled -Driven start / -Engine is running -switched off / Stop -Driven re-start / -In preparation -Autonomous start -Autonomous re-start / - invalid REQUEST_ACTIVATION_CI TYPARK CAN bus (CityPark ECU) Listed 20 ms -Invalid -Request SCP6 monitoring -Request SCP9 monitoring -No request < 5 ms - - - City Park control request of steering wheel angle. I.e. request activation function SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK MARCHE_AR_BV CAN bus Boolean 20 to 100 ms -Not engaged -Engaged < 150 ms INDICATOR_D_HEATING_ DE_LA_PS PS (for example EPS) Numeric Range, values and unit to be determined. They will be the same as for threshold THRESHOLD_D_HEATING_SCP6 < 10 ms REQUEST_RELEASE - CITYPARK CAN bus (Citypark ECU) Liste 20 ms - No request - - request < 5 ma Temporary disabling request of the citypark actuator torque 7citypark function always activated) when vehicle at stop.
  • 14. 14 3.2.1.2 Flow of the functional outputs Internal variable Creator Type Update Range or value Delays outsid e CAN Accuracy Resolution Unit Description TORQUE_ACTUATOR_CITYPARK PS (for example EPS) Numeric 10 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP6-SCP9 component of engine torque set-point (*) Torque_calculated by functions CONTROL_STEERING WHEEL_CITYPARK SCP6 or SCP9. Both functions add to classical control laws STATE_PS_FOR_CITYPARK PS (for example EPS) Listed 10 ms - Unavailable (1) - EPS controller initialization - EPS temperature too high - battery voltage outer limits - hardware voltage outer limits - loss of IGN signal for the EPS - Available - Control in progress - Invalid (2) - sensor failure - loss of communication - EPS derating (wait for IGN off) - internal controller failures (Hard/Soft) < 2 ms - - - CAN bus For the CityPark controller and IMM (1)  when it is temporary and that it can become available without contact switching off (2)  when it can become available after contact switch off and / or repair CAUSE_DEACTIVATION_CITYPARK PS (for example EPS) Listed 10 ms - No control interruption - Takeover by the driver - Vehicle speed too high - Angular error too large - Wheel obstacle - PS thermal safety (Derating) - Info EPS monitoring interruption after steering assistance decrease (before switching to EPS derating) - Maximum number of cycles reached (City Park maneuvers) - Other failures < 2 ms - - - CAN bus For the after-sales department TORQUE_STEERING WHEEL_CITYPARK Torque sensor and PS Numeric =< 10 ms -Value: -10 to 10 -Invalid < 30 ms 0,5 =< 0,1 N.m CAN bus Torque after hard phase compensation and adjustment to zero of the steering wheel torque sensor (NB:named «Optimized steering wheel torque» in the CAN protocol)
  • 15. 15 3.2.2 CAN INTERFACES DAE (avec CAV intégré) ESP CMM BSI UC CPK Vitesse véhicule (capteurs de roues) Compteur de process 4 bits UC Frein Checksum trame dynamique véhicule ABR Etat moteur thermique Consigne d’angle CityPark Demande fonction CityPark Demande régulation CityPark Checksum UC CityPark Compteur de process UC CityPark Marche arrière (Position levier) CAN I/S Angle volant Checksum angle volant Compteur de process 4 bits angle volant Etat DAE pour CityPark Cause désactivation CityPark Couple volant optimisé Checksum trame dynamique SSP DAE Compteur de process 4 bits SSP DAE The EPS consumes the following signals from the CAN I/S (see [4] for more details): CAN I/S Signal Corresponding functional Name transmission (E) / Reception (R) CityPark angle set-point R SET-POINT_ANGLE_STEERING WHEEL CityPark function request R REQUEST_FUNCTION _CITYPARK CityPark release request (reserved, no request, request, reserved) R CITYPARK_RELEASE_REQUEST (no request, request) CityPark control unit checksum R Validity of SET- POINT_ANGLE_STEERING WHEEL and REQUEST_ACTIVATION_CITYPARK CityPark control unit process counter R Vehicle speed (wheel sensors) R SPEED_VEHICLE 4-bit process counter Brake control unit R Validity of SPEED_VEHICLE Checksum of the ABR vehicle dynamic frame R Reverse gear (lever position) R MARCHE_AR_BV engine state R STATE_MT EPS state for CityPark E STATE_PS_FOR_CITYPARK CityPark deactivation cause E CAUSE_DEACTIVATION_CITYPARK Optimized steering wheel torque E TORQUE_STEERING WHEEL_CITYPARK Checksum of the SSP EPS dynamic frame E Validity of STATE_PS_FOR_CITYPARK, CAUSE_DEACTIVATION_CITYPARK and TORQUE_STEERING WHEEL_CITYPARK 4-bit process counter SSP EPS E Absolute steering wheel angle E ANGLE_STEERING WHEEL Checksum angle Steering wheel E Validity of ANGLE_STEERING WHEEL 4-bit process counter angle steering wheel E NB: in bolt printed characters the signals that are specific to City Park
  • 16. 16 3.2.2.1 State controller Indisponible Réveil Pas de défaut ET Demande SCPx OK Disponible [Derating OU Assistance indisponible] ET Pas de défaut Pas de défaut ET pas de Derating ET Assistance disponible Pas de défaut ET [Désactivartion SCPx OK OU Reprise en main conducteur OU Vitesse véhicule trop importante OU Erreur angulaire OU Obstacle à la roue OU Nombre manœuvres trop important] Mise en veille Initialisation du calculateur Initialisation terminée Défaillance interne OU Demande fonction/régulation SCPx incohérente OU Réception de valeurs invalides ou interdites OU Défaut de COM En défaut Défaillance interne OU Demande fonction/régulation SCPx incohérente Demande SCP6 et Info Marche arrière incohérentes OU Réception de valeurs invalides ou interdites OU Défaut de COM Défaillance interne OU Demande fonction/régulation SCPx incohérente OU Réception de valeurs invalides ou interdites OU Défaut de COM Veille Pilotage en cours [Derating OU Assistance indisponible] ET Pas de défaut 3.2.2.2 TRANSITIONS GEN-SC-DC- [CityPark].0206 (1) Transition from standby to initialization: Start state: Standby After event: The wake-up signal (+IGN) switches from Inactive to active Then: EPS initializes.
  • 17. 17 GEN-SC-DC- [CityPark].0207 (1) Being put on standby: After event: The wake-up signal (+IGN) switches from Active to Inactive Then: - TEMPO_PWL is reinitialized and triggered, - EPS gets asleep when TEMPO_PWL has elapsed GEN-SC-DC- [CityPark].0208 (1) Transition from Initialization to Unavailable: As soon as the EPS has terminated its initialization, - EPS state for CityPark is positioned to « Unavailable », - and CityPark deactivation cause is positioned « No control interruption ». GEN-SC-DC- [CityPark].0209 (1) Transition from Unavailable to Available: Start state: - EPS state for CityPark = « Unavailable », If no failure is detected AND if the EPS is not in derating (i.e Inactive thermal security) AND if function Assist steering is available, Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « No control interruption ». GEN-SC-DC- [CityPark].0210 (1) Transition from Available or Control in progress to Unavailable (Loss of assistance): Start state: - EPS state for CityPark = « Available » or « Control in progress », On state: - No failure is detected And after event: Function « Assist steering » is not available Then: - EPS state for CityPark switches to « Unavailable », - and CityPark deactivation cause is positioned to « No control interruption ». GEN-SC-DC- [CityPark].0211 (1) Transition from Available or Control in progress to Unavailable (Derating): Start state: - EPS state for CityPark = « Available » or « Control in progress », On state: - No failure is detected And after event: - The EPS switches to derating Then: - EPS state for CityPark switches to « Unavailable », - and CityPark deactivation cause is positioned to « EPS thermal security ».
  • 18. 18 GEN-SC-DC- [CityPark].0212 (2) Transition from Available to Control in progress (Activation SCP6): Start state: - EPS state for CityPark = « Available » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating - CityPark function request = « No request » AND CityPark control request = « No request » - AND Reverse gear (lever position) = Reverse gear engaged And after event: - Reception of N_VALID consecutive occurrence [CityPark function request = « Request of SCP6 control » AND Vehicle speed (wheel sensors) < 10 km/h Then: - EPS state for CityPark switches to « Control in progress », - and CityPark deactivation cause is positioned to « No control interruption », - and cpt_maneuver_EPS = 0. GEN-SC-DC- [CityPark].0213 (2) Transition from Available to Control in progress (Activation SCP9): Start state: - EPS state for CityPark = « Available » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating - CityPark function request = « No request » AND CityPark control request = « No request » And after event: - Reception of N_VALID consecutive occurrence [CityPark function request = « Request of SCP9 control » AND Vehicle speed < 10 km/h Then: - EPS state for CityPark switches to « Control in progress », - CityPark deactivation cause is positioned to « No control interruption », - and cpt_maneuver_EPS = 0. GEN-SC-DC- [CityPark].0214 (1) CityPark angle set-point is only taken into account when EPS state for CityPark is positioned to « Control in progress ». GEN-SC-DC- [CityPark].0215 (1) Counter cpt_maneuver_EPS (positioned to 0 during EPS initialization phase) is incremented by one unit at each new maneuver from end stop to end stop requested by the CityPark function.
  • 19. 19 GEN-SC-DC- [CityPark].0216 (1) Transition from Control in progress to Available (Deactivation SCPx): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - CityPark function request and CityPark control request switch to « No request » Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « No control interruption ». GEN-SC-DC- [CityPark].0217 (1) Transition from Control in progress to Available (Takeover): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - Steering wheel torque outside the functional range Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « Takeover by the driver » while TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ». GEN-SC-DC- [CityPark].0218 (2) Transition from Control in progress to Available (HV speed too high): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - Vehicle speed (wheel sensors) > 10 km/h Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « Vehicle speed too high » while TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
  • 20. 20 GEN-SC-DC- [CityPark].0219 (1) Transition from Control in progress to Available (angular error): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - the difference between steering wheel angle and CityPark angle set-point is outside the functional range Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « Angular error too large» while TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ». GEN-SC-DC- [CityPark].0220 (1) Transition from Control in progress to Available (Wheel obstacle): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - EPS current is outside the functional range Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « Wheel obstacle » while TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ». GEN-SC-DC- [CityPark].0221 (1) Transition from Control in progress to Available (Number of maneuvers too high): Start state: EPS state for CityPark = « Control in progress » On state: - No failure is detected AND function Assist steering is available AND the EPS is not in derating And after event: - cpt_maneuver_EPS > MAXI_NB_END STOP_TO_END STOP_CPK_SCP6 (resp. SCP9) Then: - EPS state for CityPark switches to « Available », - and CityPark deactivation cause is positioned to « Number of maneuvers too high » while TEMPO_CAUSE_DESACTIV, then switches again to « No control interruption ».
  • 21. 21 3.2.2.3 MALFUNCTIONING PART 3.2.2.3.1 SAFETY DATA GEN-SC-DC- [CityPark].0228 (1) The following data is considered as critical by the EPS: Data Frame Back-up value CityPark angle set-point 2EB Invalid CityPark function request 2EB Invalid Vehicle speed (wheel sensors) 38D SPEED_REFUGE_EPS GEN-SC-DC- [CityPark].0229 (1) 2EB frame checksum: If CityPark control unit checksum = incorrect (See ST Checksum & Cpt process) Then the EPS uses back-up values for signals CityPark angle set-point, CityPark function request and CityPark control request. GEN-SC-DC- [CityPark].0230 (1) 2EB frame process counter: If CityPark control unit process counter is fixed (See ST Chksum & Cpt process) during P1_PROCESS_FIGE consecutive occurrences, then the EPS uses back-up values for signals CityPark angle set-point, CityPark function request and CityPark control request. GEN-SC-DC- [CityPark].0231 (1) Checksum 38D: If Checksum of the ABR vehicle dynamic frame = incorrect (See ST Chksum & Cpt process) Then the EPS uses vehicle speed (wheel sensors) = SPEED_REFUGE_EPS. GEN-SC-DC- [CityPark].0232 (1) 38D process counter If 4-bit process counter Brake control unit = fixed (See ST Chksum & Cpt process) during P2_PROCESS_FIGE consecutive occurrences, then the EPS uses Vehicle speed (wheel sensors) = SPEED_REFUGE_EPS. 3.2.2.3.2 DISABLING OF CITYPARK CONTROL GEN-SC-DC- [CityPark].0233 (2) Invalid values (1): The following values are determined as invalid for the EPS: - Vehicle speed (wheel sensors) = Invalid, - CityPark angle set-point = Invalid, - CityPark function request = Invalid, - engine state = Invalid (1) detection, confirmation and rehabilitation modalities (counter, timeout, etc.) for each of the above assertions are determined by thresholds that can be configured. GEN-SC-DC- [CityPark].0234 (2) Prohibited values (2): The following values are determined as prohibited for the EPS - CityPark angle set-point = Reserved (i.e < Min or > Max) - CityPark release request = Reserved - engine state = Reserved (2) detection, confirmation and rehabilitation modalities (counter, timeout, etc.) for each of the above assertions are determined by thresholds that can be configured. GEN-SC-DC- [CityPark].0235 (1) COM failure (3): If Frame [2EB or IS_DYN_ABR_38D or IS_DYN2_CMM_348 or IS_DAT_BSI_412] confirmed as absent or too short.
  • 22. 22 (3) see ST COM layers GEN-SC-DC- [CityPark].0236 (2) Transition Unavailable or Available or Control in progress to Defective (Internal failures, invalid/prohibited values, COM failure): After event: Confirmation of an internal EPS failure (or on confirmation of reception of invalid values or prohibited or on confirmation of a COM failure, Then: - EPS state for CityPark switches to « Invalid », - CityPark deactivation cause switches to « Other failures » until wake-up signal of the EPS is deactivated (+IGN) - or until rehabilitation of internal EPS failures (depends on failures that can be rehabilitated without Key Off / Key On) (see technical specification « diag » [5]) - or until reception of 10 valid consecutive values of the flow that has caused to switch to failure - or until rehabilitation of the COM failure GEN-SC-DC- [CityPark].0243 (1) Transition from Available to Defective (Request SCP6 and Info Reverse gear inconsistent): Start state: - EPS state for CityPark = « Available » On state: - Reverse gear (lever position) = « Front gear or neutral position » And after event: - CityPark function request switches from « No request » to « Request of SCP6 control » Then: - EPS state for CityPark switches to « Invalid », - CityPark deactivation cause switches to « Other failures » until wake-up signal of the EPS is deactivated (+IGN) 3.2.2.3.3 REHABILITATION CONDITIONS GEN-SC-DC- [CityPark].0244 (0) Transition from Defective to Unavailable: When a failure has been confirmed (i.e EPS state for CityPark = « Invalid » and CityPark deactivation cause = « Other failures »), then EPS state for CityPark and CityPark deactivation cause are reinitialized (see Transition from Initialization to Unavailable): - on the next EPS wake-up signal transition (+IGN) from Inactive to active. - or at the next wake-up of the EPS controller, or EPS state for CityPark will switch to unavailable : - On rehabilitation of internal EPS failures (depends on the failures that can be rehabilitated without Key off/key on) (see technical specification “diag” [5]) - - or reception of 10 consecutive valid values of the flow that has caused to switch to failure - - or rehabilitation of the COM failure 3.2.2.3.4 RESET MANAGEMENT GEN-SC-DC- [CityPark].0245 (1) During a software reset, - EPS state for CityPark switches to « Unavailable »,
  • 23. 23 - CityPark deactivation cause switches to « Other failures ». 3.3 FUNCTIONAL REQUIREMENTS OF THE CITYPARK FUNCTION 3.3.1 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS 3.3.1.1 THE 3 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEMS 3.3.1.1.1 CALCULATE THE ROUGH TORQUE 3.3.1.1.1.1 ASSIST ACTUATOR DIMENSIONING The calculation of SCP6 and SCP9 TORQUE_ACTUATOR_CITYPARK of CONTROL_STEERING WHEEL_CITYPARK requires the new requirements regarding assistance actuator to be taken into account. These requirements are described below using BVH2’ EPS as application. The minimum power of the assist actuator must be such that the steering wheel can turn without driver effort at the following operating points: - MTAC load (max force) - vehicle speed ≤ 10 Km/h Torque driver % rack stroke Steering wheel speed (°/s) Steering wheel acceleration (°/s2) 0  released steering wheel 90 0 1000 maximum 0  released steering wheel 85 200 1000 maximum 0  released steering wheel 76 350 1000 maximum 0  released steering wheel 67,5 450 1000 maximum 0  released steering wheel 0 450 1000 maximum The following curves correspond to the points given above. - Angle and steering wheel speed according to time - Steering wheel speed according to steering wheel angle (% of the rack stroke)
  • 24. 24 Change in speed and steering angle against time during a City Park maneuver,, X axis is in seconds and goes from 0 to 11s: -500 -400 -300 -200 -100 0 100 200 300 400 500 Time [s] -100 -80 -60 -40 -20 0 20 40 60 80 100 Angular displacement [%] Speed Steering wheel Angle steering wheel Steering wheel speed [°/s]
  • 25. 25 Change in steering wheel speed according to steering wheel angle during City Park maneuver: -500 -400 -300 -200 -100 0 100 200 300 400 500 -100 -80 -60 -40 -20 0 20 40 60 80 100 % Course angle volant Vitesse volant [°/s]
  • 26. 26 The following requirements for the CONTROL_STEERING WHEEL_CITYPARK function are deduced from the specification above mentioned: Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-001 (1) The minimum power of the assistance actuator for the calculation of the SCP6 and SCP9 TORQUE_ACTUATOR_CITYPARK relative to an EPS dimensioned without CONTROL_STEERING WHEEL_CITYPARK function, must be such that the steering wheel can turn without driver effort at the following operating points: %_rack(i,j), Speed_Steering wheel(i,j), Acceleration_Steering wheel_maxi(i,j) and ratio(j) with: - i=1 to NP_THEN_ACT number of points that determine EPS power - j=1 to NB_RATIO  number of ratios = rack displacement / steering wheel rotation For a nominal City Park operation for: - MTAC load - vehicle speed: 0Km/h<or=Vehicle speed< 10 Km/h - voltage at EPS terminals: 11,3V < U < 16V - ambient temperature under hood between -20°C and 95°C Nominal operation according to temperature and supply voltage: Voltage [V] 8 11,3 12,3 13,5 16 18 Temperature [°C] -40 CAM com CAM com CAM com CAM com CAM com CAM com -30 CAM com CAM com CAM com CAM com CAM com CAM com -20 CAM com City Park City Park City Park City Park CAM com -5 CAM com City Park City Park City Park City Park CAM com 25 CAM com City Park City Park City Park City Park CAM com 90 CAM com City Park City Park City Park City Park CAM com 95 CAM com City Park City Park City Park City Park CAM com 110 CAM com City Park City Park City Park City Park CAM com 130 CAM com - - - - CAM com CAM com: no performance required by CAN communication required. 99% of produced steering systems must satisfy the performance requirements that are specified and by taking production-related performance variations into account GEN-VHL-ST- CP-500 (2.0) GEN-VHL-ST- CP-735 (2.0) GEN-VHL-ST- CP-745 (2.0) GEN-VHL-ST- CP-746 (2.0) GEN-VHL-ST- CP-662 (2.0) GEN-VHL-ST- CP-747 (2.0)  The following parameters are used by the requirement stated above:  Number of rack displacement % points at which the minimum steering wheel speeds are determined to be carried out without driver: NP_THEN_ACT (i=1 to NP_THEN_ACT)  Number of different ratios for applicative vehicles. A ratio is a steering gear reduction: rack displacement for one steering wheel rotation: NB_RATIO (j=1 to NB_RATIO)  Steering wheel angles where the minimum steering wheel speeds are determined to be carried out without driver: ANGLE_STEERING WHEEL(i,j)  Minimum steering wheel speeds to be carried out without driver: SPEED_STEERING WHEEL(i,j)  Maximum steering wheel accelerations to be carried out without driver: ACCELERATIONS_STEERING WHEEL_MAXI(i,j)  Steering ratio: ratio is a demultiplication of the steering: rack displacement for one steering wheel rotation: RATIO(j)
  • 27. 27 3.3.1.1.1.2 TORQUE CALCULATION BEFORE DISABLING Basic SCP6 AND SCP9 TORQUE_ACTUATOR_CITYPARK have the following properties: - these torques are added to the standard assistance actuator torque when they are active. They are the over- torques that are required for functions: SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK - These torques are active, i.e. not null when they are not deactivated by the temporal disabling determination (see following chapter). The control is then running without failure - these torques are inactive, i.e. null when they are deactivated by the temporal disabling determination (see following chapter). The control is then stopped due to a failure. 3.3.1.1.2 DETERMINE THE TEMPORAL DISABLING A temporal disabling block is also determined for functions SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK. This block processes: - nominal life situations. - life situations with a malfunction. This function provides an internal « flag » that will activate (torque not null) or deactivate (torque null). Torques are those of functions: SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK. 3.3.1.1.3 DETERMINE THE TORQUE THAT MUST BE APPLIED The torque of the SCP6 function or SCP9 CONTROL_STEERING WHEEL_CITYPARK, which must be applied is calculated from the basic torque by applying the result of the temporal disabling calculation. Various processes may be applied to this basic torque: - SCP6 and SCP9 torque saturation - error detection if the calculated SCP6 or SCP9 torque is too high.
  • 28. 28 3.3.1.2 „ CONTROL_STEERING WHEEL_CITYPARK » SUB-SYSTEM INTERFACES NB: - PS  Assistance actuator = power steering (for example: EPS) - same functional diagram for SCP6 and SCP9 - the takeover of the steering wheel is managed in CALCULATE_TORQUE_ENGINE Monitor steering wheel CITYPARK TORQUE_D_ASSISTANCE_DA D ét er mi ne r le tor qu e au so l (A) TORQUE_STEERING WHEEL_MEASUREMENT ANGLE_STEERING WHEEL DEMANDE_FONCTION_CITYPARK CONSIGNE_ANGLE_STEERING WHEEL SPEED_STEERING WHEEL C _ROUGH_SCP6 CALCULATE ENGINE TORQUE MARCHE_AR_BV ETAT_MT SPEED_VEHICULE CAUSE_DEACTIVATION_CITYPARK ETAT_DA_POUR_CITYPARK DETERMINE TEMPORAL DISABLING SITUATION ETAT_DA TORQUE_STEERING WHEEL_CITYPARK ETAT_REGULATION_SCP6 DUREE_DU_RATE_LIMITEUR_SCP6 SITUATION_D_DISABLING_TEMPORELLE_SCP6 DETERMINE TORQUE TORQUE_ACTUATOR_CITYPARK TORQUE_SCP6 INDICATOR_D_ECHAUFFEMENT_DE_LA_DA Sensor wheel torque after hard phase compensation and correction of zero sensor (Torque Steering wheel optimized of CAN messaging system) Torque_calculated using the functions : calculate TORQUE_ACTUATOR_CITYPARK SCP6 Ces 2 torques se rajoutent à ceux des lois de commandes classiques Assistance Torque Actuator of standard control laws without functions: calculate TORQUE_ACTUATOR_CITYPARK SCP6
  • 29. 29 3.3.1.3 INTERNAL FLOWS: SUB-SYSTEM INPUTS AND OUTPUTS ***** SCP6 ***** Internal Variable Creator Type updaqe Range or values Delay outside CAN Accurac y Solution Unit Description C _basic_SCP6 « Monitor steering wheel CityPark » Numeric 2 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP6 CONTROL_STEERING WHEEL_CITYPARK function torque before disabling SITUATION_D_DISABLING TEMPORAL_SCP6 « Monitor steering wheel CityPark » Listed 20 ms - Activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = « ACTIVATION_RATE_LIMITATOR_SCP6 » - De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = « DEACTIVATION_RATE_LIMITATOR_SCP6 » -Does not change < 5 ms - - - DURATION_ACTIVATION_RATE_LIMITATOR_SCP « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of TORQUE_ACTUATOR_CITYPARK_SCP6 DURATION_DEACTIVATION_RATE_LIMITATOR_SCP « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of TORQUE_ACTUATOR_CITYPARK_SCP6 DURATION_ACTIVATION_RELEASE_RATE_LIMITATO R_CITYPARK « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s DURATION_DEACTIVATION_RELEASE_RATE_LIMITAT OR_CITYPARK « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s
  • 30. 30 ***** SCP9 ***** Internal Variable Creator Type Update Range or values Delay outside CAN Accuracy Solution uNIT Description C _basic_SCP9 « Monitor steering wheel CityPark » Numeric 2 ms -60 60 < 5 ms 0,1 =< 0,1 N.m SCP9 CONTROL_STEERING WHEEL_CITYPARK function torque before disabling SITUATION_D_DISABLING TEMPORAL_SCP9 « Monitor steering wheel CityPark » Listed 20 ms - Activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = « ACTIVATION_RATE_LIMITATOR_SCP9 » - De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = « DEACTIVATION_RATE_LIMITATOR_SCP9 » -Does not change < 5 ms - - - DURATION_DU_RATE_LIMITATOR_SCP9 « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of TORQUE_ACTUATOR_CITYPARK_SCP9 DURATION_ACTIVATION_RATE_LIMITATOR_SCP « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of TORQUE_ACTUATOR_CITYPARK_SCP9 DURATION_DEACTIVATION_RATE_LIMITATOR_SCP « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s Activation or de-activation duration of TORQUE_ACTUATOR_CITYPARK_SCP9 DURATION_ACTIVATION_RELEASE_RATE_LIMITATOR_ CITYPARK « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s DURATION_DEACTIVATION_RELEASE_RATE_LIMITATO R_CITYPARK « Monitor steering wheel CityPark » Numeric table [ x , y ,….] 20 ms -30 30 < 5 ms - 0,05 s
  • 31. 31 3.3.2 „ CALCULATE THE BASIC TORQUE» SUB-SYSTEM 3.3.2.1 NOMINAL CASE OF THE RELEASED STEERING WHEEL C_basic_SCP6 or C_basic_SCP9 are over-torques that provide steering wheel position control using the assistance actuator, or CONTROL_STEERING WHEEL_CITYPARK function. These torques are called « rough» because the calculation of the SCP6 or SCP9 TEMPORAL DISABLING SITUATION applies to these rough torques. Therefore, rough torques are not the torques that are directly applied by the « assistance actuator ». Definition: (Ctotal)  current assistance actuator torque (Cvol)  measured steering wheel torque (steering wheel is released) (Csol)  torque that corresponds to all the forces coming from the ground: tires, wheels, front and rear axles. (Csol) is given by steering assistance and only compensates the steering wheel movement in a balance situation. If a small amount of torque is added to the assistance, the steering wheel begins to rotate. (Csol) changes according to conditions: vehicle load, adherence, tire state, etc. During assistance actuator operation, (Csol) is deduced from the total instant assistance torque (Ctotal) and the measured steering wheel torque (Cvol). (Casservissement)  is the assistance torque required by function SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK Calculation of torques C_basic_SCP6 or C_basic_SCP9 of SCP6 or SCP9 CONTROL_STEERING WHEEL_CITYPARK function with released steering wheel: 1: From (Ctotal) and (Cvol) that are known, (Csol) is calculated by substracting the contribution (Cvol) from (Ctotal). The remainer is (Csol) 2: The control torque (Casservissement) of the steering wheel angle position is given by the regulator based on the difference between the steering wheel angle set-point and the measured steering wheel angle. 3: The torque remains to be calculated to request assistance from the actuator. I.e.: « C_basic_SCP6 » or « C_basic_SCP9 ». This is (Csol) to which contribution (Casservissement) is added.
  • 32. 32 3.3.2.2 STEERING WHEEL TAKEOVER BY THE DRIVER Steering wheel control is taken over the same way as for SCP6 and SCP9. 3.3.2.2.1.1 DRIVER TAKEOVER MANAGEMENT Manual takeover of the steering wheel occurs in about 200 ms. This duration is related to the physical phenomenon of the hand compression on the steering wheel. This average actual value also corresponds to the time during which the system wants to wait for manual takeover. Beyond 200 ms, the steering wheel has taken too much delay compared with the set-point, for the SCPxfunctions to continue to operate. Below this 200 msm value, there has been a small amount of SCPx torque and the steering wheel angle delay is acceptable for the SCPx to reoperate if the takeover is not completed. This can be a contact with the steering wheel. This takeover is managed as follows: torque C_basic_SCP6 decreases gradually as the steering wheel torque increases. There are no dynamics during the decrease of torque C_basic_SCP6. It decreases at the same time as the steering wheel torque increases to the nearest calculation period. There are 2 steering wheel torque thresholds. Below 1,3 Nm, nothing happens. Above 2,3 Nm, torque C_basic_SCP6 is null. Between the 2 thresholds, torque C_basic_SCP6 is inversely linearly proportional to the steering wheel torque. 3.3.2.2.1.2 ANALYSIS OF THE POSSIBILITY OF HARD POINTS Takeover with fixed hand: The torque that is felt by the driver is slow if below 2Nm. From 2 Nm onwards, torque C_basic_SCP6 has decreased by 70%. In summary, by the time the driver begins to feel something in his hand, the functional torque has already decreased without delay. Within this framework, the time the driver´s hand needs to grasp the steering wheel, i.e. 200 ms without haste, has no importance. Takeover with moving hand: When the SCP6 CONTROL_STEERING WHEEL_CITYPARK function operates and the steering wheel is released, there is no torque in the torque sensor. There is only the torque that is required for the steering wheel inertia acceleration. When the steering wheel is taken back with a moving hand (movement in the same or opposite direction to that of the steering wheel), the steering wheel inertia is not sufficient to create a hard point. This is all the more true as torque C_basic_SCP6 will slow down the steering wheel while decreasing and always favorably. - If the steering wheel is taken back in the same direction as being moved, it will be slowed down since it rotates at maximum 450 °/s. Therefore the driver is helped by torque C_basic_SCP6. - If the steering wheel is turned in the opposite direction to which it is moving, torque C_basic_SCP6 slows down the steering wheel and therefore helps the driver to turn it in the opposite direction. Therefore, there is no hard point when taking control of the steering wheel.
  • 33. 33 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-002 (“) When the driver takes over the steering wheel, the steering wheel torque increases. Torque C_basic_SCP6 must reduce progressively during this torque increase,in order to stop the effects of the CONTROL_STEERING WHEEL_CITYPARK function without the driver feeling torque C_basic_SCP6. 2 thresholds are defined for the steering wheel torque: 1 - « TORQUE_STEERING WHEEL_MINI_SCP6 » such that: If: « TORQUE_STEERING WHEEL_MEASUREMENT » < « TORQUE_STEERING WHEEL_MINI_SCP6 » Then: C_basic_SCP6 = standard velue that is not modified by takeover of the steering wheel 2 - « TORQUE_STEERING WHEEL_MAXI_SCP6 » such that: If: « TORQUE_STEERING WHEEL_MEASUREMENT » > « TORQUE_STEERING WHEEL_MAXI_SCP6 » Then: C_basic_SCP6 = 0 3 - Between the 2 thresholds, torque C_basic_SCP6 is inversely and linearly proportional to the steering wheel torque. As long as maximum steering wheel torque « TORQUE_STEERING WHEEL_MAXI_SCP6 » is not reached, SCP6 function is not activated. When this threshold is reached, a deactivation request must be sent to the CityPark controller within a total delay that is less than 20 ms. This delay consists of the following: - 10ms maximum processing via function „control steering wheel CityPark“. See requirement: « FONC-PS_DC_SCPx-048(1) » - maximum 10 ms for the stop request transmission to the City Park controller that manages the steering wheel set-point GEN-VHL-ST-CP- 751 (2.0) GEN-VHL-ST-CP- 564 (2.0) GEN-VHL-ST-CP- 568 (2.0) GEN-VHL-ST-CP- 569 (2.0) The following parameters are used for these requirements: The minimum steering wheel torque threshold from which C_basic_SCP6 is active is: TORQUE_STEERING WHEEL_MINI_SCP6 The maximum steering wheel torque threshold above which torque C_basic_SCP6 is null is: TORQUE_STEERING WHEEL_MAXI_SCP6 Between thresholds TORQUE_STEERING WHEEL_MINI_SCP6 and TORQUE_STEERING WHEEL_MAXI_SCP6, torque C_basic_SCP6 is inversely and linearly proportional to the steering wheel torque.
  • 34. 34 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-003 (2) When the driver takes over the steering wheel, the steering wheel torque increases. Torque C_basic_SCP09 must reduce progressively during this torque increase, in order to stop the effects of the CONTROL_STEERING WHEEL_CITYPARK function without the driver feeling torque C_basic_SCP9. 2 thresholds are defined for the steering wheel torque: 1 - « TORQUE_STEERING WHEEL_MINI_SCP9 » such that: If: « TORQUE_STEERING WHEEL_MEASUREMENT » < « TORQUE_STEERING WHEEL_MINI_SCP9 » Then: C_basic_SCP9 = standard velue that is not modified by takeover of the steering wheel 2 - « TORQUE_STEERING WHEEL_MAXI_SCP9 » such that: If: « TORQUE_STEERING WHEEL_MEASUREMENT » > « TORQUE_STEERING WHEEL_MAXI_SCP9 » Then: C_basic_SCP9 = 0 3 - Between the 2 thresholds, torque C_basic_SCP9 is inversely and linearly proportional to the steering wheel torque. As long as maximum steering wheel torque « TORQUE_STEERING WHEEL_MAXI_SCP9 » is not reached, SCP9 function is not activated. When this threshold is reached, a deactivation request must be sent to the CityPark controller within a total delay that is less than 20 ms. This delay consists of the following: - 10ms maximum processing via function „control steering wheel CityPark“. See requirement: « FONC-PS_DC_SCPx-048(1) » - maximum 10 ms for the stop request transmission to the City Park controller that manages the steering wheel set-point GEN-VHL-ST-CP- 754 (2.0) GEN-VHL-ST-CP- 769 (2.0) GEN-VHL-ST-CP- 764 (2.0) GEN-VHL-ST-CP- 765 (2.0) The following parameters are used for these requirements: The minimum steering wheel torque threshold from which C_basic_SCP9 is active is: TORQUE_STEERING WHEEL_MINI_SCP9 The maximum steering wheel torque threshold above which torque C_basic_SCP9 is null is: TORQUE_STEERING WHEEL_MAXI_SCP9 Between thresholds TORQUE_STEERING WHEEL_MINI_SCP9 and TORQUE_STEERING WHEEL_MAXI_SCP9, torque C_basic_SCP9 is inversely and linearly proportional to the steering wheel torque.
  • 35. 35 3.3.3 „ DETERMINE THE TEMPORAL DISABLING » SUB-SYSTEM 3.3.3.1 DESCRIPTION OF THE TEMPORAL DISABLING A « temporal disabling » block is also determined for function CONTROL_STEERING WHEEL_SCP6 (idem SCP9),. This block processes: - nominal life situations. - life situations with a malfunction. This function provides an internal « flag » that will activate the CONTROL_STEERING WHEEL_CITYPARK function. This flag is output: SITUATION_D_DISABLING_TEMPORAL_SCP6 or SCP9 that is valid for: 1 - activation 2 - deactivation 3 - does not change - In case 1, activation is immediate (within the system´s response time) - In case 2, a duration is applied for deactivation. TORQUE_ACTUATOR_CITYPARK_SCP6 or SCP9 switch from X to 0 with a duration that can be configured. X is the value of TORQUE_ACTUATOR_CITYPARK_SCP6 or SCP9 when SITUATION_D_DISABLING_TEMPORAL_SCP6 or SCP9 changes. See chapter: « APPLICATION OF THE TEMPORAL DISABLING » MARCHE_AR_BV ETAT_MT DEMANDE_RELEASE_CITYPARK VITESSE_VOLANT ANGLE_VOLANT VITESSE_VEHICULE CAUSE_DESACTIVATION_CITYPARK ETAT_DA_POUR_CITYPARK DETERMINE THE TEMPORAL DISABLING SITUATION COUPLE_VOLANT_MESURE ETAT_DA COUPLE _VOLANT_CITYPARK Déterminer la situation d’disabling temporelle SITUATION_DISABLING_TEMPORELLE SITUATION_D_DISABLING_TEMPORELLE_SCP6 DUREE_DU_RATE_LIMITEUR_SCP CONSIGNE_ANGLE_VOLANT INDICATEUR_D_ECHAUFFEMENT_DE_LA_DA
  • 36. 36 3.3.3.2 NOMINAL LIFE SITUATIONS 3.3.3.2.1 PRELIMINARY REQUIREMENTS Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-004 (1) Values of the measured steering wheel torque transmitted on the CAN network via the PS: the measured steering wheel torque is only known by the PS. Therefore, it is transmitted on the CAN network for information and is called « Optimized steering wheel torque ». This is the torque after phase compensations (or system that provide PS stability). If this transmitted torque is not taken after the phase compensations, then it may not be useable for an order algorithm. Therefore, the « Optimized steering wheel torque » is limited to being information. TORQUE_STEERING WHEEL_CITYPARK = TORQUE_STEERING WHEEL_MEASUREMENT after phase compensation NB: there is usually 1 to 2 % difference between these signals Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-005 (2) Details regarding PS and function operating states: « Control CityPark steering wheel »: The following states of the standard EPS assistance are considered : - assistance off (assistance stopped) - assistance on with STT limitation (engine current reduced after switching to STT mode) - assistance on without STT limitation The state of the assistance including function « Control CityPark steering wheel » is considered IF: State of the standard EPS assistance is « assistance on without STT limitation» (a) State of the standard EPS assistance is « assistance on with limitation STT limitation» (b) AND REQUEST_FUNCTION_CITYPARK = no request (a) (b) THEN: STATE_DA_FOR_CITYPARK = available (a) unavailable (b) Variable : STATE_DA_FOR_CITYPARK states City Park operation
  • 37. 37 3.3.3.2.2 ACTIVATION AND OPERATION AND STOP WITHOUT MALFUNCTION Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-006 (§) When City Park starts to enter a parking space (SCP6), and this without malfunctioning, a certain number of variables that indicate nominal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated. IF: SPEED_VEHICLE < 10 km/h AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT = Engine is running AND MARCHE_AR_BV = engaged AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = request of SCP6 control AND the state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Available AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6 THEN: C_basic_SCP6 = Standard value not modified by block DETERMINE_THE_TORQUE AND SITUATION_D_DISABLING_TEMPORAL_SCP6=activate torque (*) TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_ACTIVATION_RATE_LIMITATOR_SCP6 AND STATE_PS_FOR_CITYPARK = Control in progress AND CAUSE_DEACTIVATION_CITYPARK = no control interruption AND Number of END STOP_TO_END STOP_STEERING WHEEL = 0 NB: (*) DURATION_ACTIVATION_RATE_LIMITATOR_SCP is read only incase of activation with SITUATION_D_DISABLING_TEMPORAL_SCP6 GEN-VHL-ST-CP- 456 (1.0) GEN-VHL-ST-CP- 466 (1.0 GEN-VHL-ST-CP- 838 (1.0)) GEN-VHL-ST-CP- 474 (1.0) GEN-VHL-ST-CP- 815 (1.0) GEN-VHL-ST-CP- 482 (1.0) GEN-VHL-ST-CP- 566 (1.0) The following parameters are used for these requirements: Longitudinal vehicle speed threshold below which function « CONTROL STEERING WHEEL CITYPARK » can be actuated: 10 km/h
  • 38. 38 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-007 (3) When City Park starts to leave a parking space (SCP6), and this without malfunctioning, a certain number of variables that indicate nominal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated. IF: SPEED_VEHICLE < 10 km/h AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT =Engine is running AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = request of SCP9 control AND the state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Available AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9 THEN: C_basic_SCP9 = Standard value not modified by block DETERMINE_THE_TORQUE AND SITUATION_D_DISABLING_TEMPORAL_SCP9=activate torque (*) TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_ACTIVATION_RATE_LIMITATOR_SCP9 AND STATE_PS_FOR_CITYPARK = Control in progress AND CAUSE_DEACTIVATION_CITYPARK = no control interruption AND Number of END STOP_TO_END STOP_STEERING WHEEL = 0 NB: (*) DURATION_ACTIVATION_RATE_LIMITATOR_SCP n’est lu que lors d’une activation with SITUATION_D_DISABLING_TEMPORAL_SCP9 GEN-VHL-ST-CP- 589 (1.0) GEN-VHL-ST-CP- 598 (1.0) GEN-VHL-ST-CP- 855 (1.0) GEN-VHL-ST-CP- 605 (1.0) GEN-VHL-ST-CP- 857 (1.0) GEN-VHL-ST-CP- 613 (1.0) GEN-VHL-ST-CP- 770 (1.0) The following parameters are used for these requirements: Longitudinal vehicle speed threshold below which function « CONTROL STEERING WHEEL CITYPARK » can be actuated: 10 km/h
  • 39. 39 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-008 (1) During nominal City Park operation with forward and backward movements (SCP6), i.e. without malfunctioning, a certain number of variables that indicate normal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated IF: SPEED_VEHICLE < 10 km/h AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT =Engine is running AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = request of SCP6 control AND the state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Control in progress AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6 AND Number of END STOP_TO_END STOP_STEERING WHEEL < MAXI_NB_END STOP_TO_END STOP_CPK_SCP6 THEN: C_basic_SCP6 = standard value not modified by steering wheel takeover AND SITUATION_D_DISABLING_TEMPORAL_SCP6 = do not change anythinig (*) AND STATE_REGULATION_SCP6 = under control AND CAUSE_DEACTIVATION_CITYPARK = no control interruption NB: (*) DURATION_OF THE_RATE_LIMITATOR_SCP is only read during activation or deactivation using SITUATION_D_DISABLING_TEMPORAL_SCP6. Therefore, in this situation, it is not read GEN-VHL-ST-CP- 466 (1.0) GEN-VHL-ST-CP- 838 (1.0)
  • 40. 40 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-009 (3) During nominal City Park operation when leaving a parking space (SCP9), i.e. without malfunctioning, a certain number of variables that indicate normal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated IF: SPEED_VEHICLE < 10 km/h AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT =Engine is running AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = request of SCP9 control AND the state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Control in progress AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9 AND Number of END STOP_TO_END STOP_STEERING WHEEL < MAXI_NB_END STOP_TO_END STOP_CPK_SCP9 THEN: C_basic_SCP9 = Standard value not modified by a steering wheel takeover AND SITUATION_D_DISABLING_TEMPORAL_SCP9 = do not change anythinig (*) AND STATE_REGULATION_SCP9 = under control AND CAUSE_DEACTIVATION_CITYPARK = no control interruption NB: (*) DURATION_DU_RATE_LIMITATOR_SCP is only read during activation or deactivation using SITUATION_D_DISABLING_TEMPORAL_SCP9. Therefore, in this situation, it is not read GEN-VHL-ST-CP- 598 (1.0) GEN-VHL-ST-CP- 855 (1.0)
  • 41. 41 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-010 (3) At City Park stop for a forward and backward movement (SCP6), and this without malfunctioning, a certain number of variables that indicate normal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated IF: SPEED_VEHICLE < 10 km/h AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT =Engine is running AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = no request AND the state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Control in progress AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP6 THEN: C_basic_SCP6 = Standard value modified by block DETERMINE_THE_TORQUE AND SITUATION_D_DISABLING_TEMPORAL_SCP6=de-activate torque (*) TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_REGULATION_SCP6 = available AND STATE_PS_FOR_CITYPARK = available AND CAUSE_DEACTIVATION_CITYPARK = no control interruption NB: (*) DURATION_DEACTIVATION_RATE_LIMITATOR_SCP is only read via deactivation with SITUATION_D_DISABLING_TEMPORAL_SCP6 GEN-VHL-ST-CP- 456 (1.0) GEN-VHL-ST-CP- 466 (1.0) GEN-VHL-ST-CP- 838 (1.0) GEN-VHL-ST-CP- 474 (1.0) GEN-VHL-ST-CP- 815 (1.0) GEN-VHL-ST-CP- 566 (1.0) GEN-VHL-ST-CP- 575 (1.0) GEN-VHL-ST-CP- 576 (1.0)
  • 42. 42 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-011 (3) At City Park stop when leaving a parking space (SCP9), and this without malfunctioning, a certain number of variables that indicate normal CONTROL_STEERING WHEEL_CITYPARK function operation must be activated IF: SPEED_VEHICLE < 10 KM/H AND SPEED_VEHICLE = NOT(invalid) AND TORQUE_STEERING WHEEL_MEASUREMENT < TORQUE_STEERING WHEEL_MINI_SCP9 AND TORQUE_STEERING WHEEL_MEASUREMENT = NOT(invalid) AND ANGLE_STEERING WHEEL = NOT(invalid) AND SET-POINT_ANGLE_STEERING WHEEL = NOT(invalid) AND STATE_MT =Engine is running AND TORQUE_D_ASSISTANCE_PS = NOT(invalid) AND SPEED_STEERING WHEEL = NOT(invalid) AND REQUEST_FUNCTION_CITYPARK = no request AND The state of the standard EPS assistance is “assistance on without STT limitation” AND STATE_PS_FOR_CITYPARK = Control in progress AND INDICATOR_D_HEATING_DE_LA_PS < THRESHOLD_D_HEATING_4_SCP9 THEN: C_basic_SCP9 = Standard value modified by block DETERMINE_THE_TORQUE AND SITUATION_D_DISABLING_TEMPORAL_SCP9=de-activate torque (*) TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_REGULATION_SCP9 = available AND STATE_PS_FOR_CITYPARK = available AND CAUSE_DEACTIVATION_CITYPARK = no control interruption NB: (*) DURATION_DEACTIVATION_RATE_LIMITATOR_SCP is only read via deactivation with SITUATION_D_DISABLING_TEMPORAL_SCP9 GEN-VHL-ST-CP- 589 (1.0) GEN-VHL-ST-CP- 598 (1.0) GEN-VHL-ST-CP- 855 (1.0) GEN-VHL-ST-CP- 605 (1.0) GEN-VHL-ST-CP- 857 (1.0) GEN-VHL-ST-CP- 770 (1.0) GEN-VHL-ST-CP- 671 (1.0) GEN-VHL-ST-CP- 672 (1.0)
  • 43. 43 3.3.3.3 LIFE SITUATION WITH A MALFUNCTION 3.3.3.3.1 DEACTIVATION DUE TO HIGH VEHICLE SPEED Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-0012 (3) The CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate at high speed (450 °/s) to be able to make maneuvers at high vehicle speed. However, above a given vehicle speed, CONTROL_STEERING WHEEL_CITYPARK function can no longer operate because, to follow the trajectory, the steering wheel would have to rotate at more than 450 °/s. IF SPEED_VEHICLE > 10 KM/H (case: a) OR SPEED_VEHICLE = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK = - vehicle speed too high (a) - other failures (b) GEN-VHL-ST-CP- 461 (1.0) GEN-VHL-ST-CP- 477 (1.0) GEN-VHL-ST-CP- 817 (1.0) GEN-VHL-ST-CP- 500 (1.0) GEN-VHL-ST-CP- 633 (1.0) GEN-VHL-ST-CP- 796 (1.0) GEN-VHL-ST-CP- 561 (1.0) The following parameters are used for these requirements: Parameter that gives the maximum vehicle speed above which SCP6 can no longer be used: 10 KM/H
  • 44. 44 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-013 (3) CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate at high speed (450 °/s) to be able to make maneuvers at high vehicle speed. However, above a given vehicle speed, CONTROL_STEERING WHEEL_CITYPARK function can no longer operate because, to follow the trajectory, the steering wheel would have to rotate at more than 450 °/s. IF SPEED_VEHICLE > 10 KM/H (case: a) OR SPEED_VEHICLE = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK = - vehicle speed too high (a) - other failures (b) GEN-VHL-ST-CP- 469 (1.0) GEN-VHL-ST-CP- 608 (1.0) GEN-VHL-ST-CP- 859 (1.0) GEN-VHL-ST-CP- 631 (1.0) GEN-VHL-ST-CP- 755 (1.0) GEN-VHL-ST-CP- 756 (1.0) GEN-VHL-ST-CP- 744 (1.0) The following parameters are used for these requirements: Parameter that gives the maximum vehicle speed above which SCP9 can no longer be used: 10 KM/H
  • 45. 45 3.3.3.3.2 DEACTIVATION WITH STEERING WHEEL TORQUE Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-014 (3) The CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it is not the case, excess steering wheel torque exists and CityPark must be stopped. IF STATE_PS_FOR_CITYPARK = Control in progress AND REQUEST_RELEASE_CITYPARK= No Request for more than DUREE_SORTIE_RELAXE_CITYPARK OR REQUEST_RELEASE_CITYPARK = Request AND TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERING WHEEL_MINI_SCP6 (case: a) OR TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_REGULATION_SCP6 = unavailable (a) invalid (b) AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK= - takeover by the driver (a) - torque sensor failure (b) Requirement no. Description Upward requirements
  • 46. 46 FONC-PS_CDC- SCPx-015 (3) CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it is not the case, excess steering wheel torque exists and CityPark must be stopped. IF STATE_PS_FOR_CITYPARK = Control in progress AND REQUEST_RELEASE_CITYPARK= No Request for more than DUREE_SORTIE_RELAXE_CITYPARK OR REQUEST_RELEASE_CITYPARK = Request IF TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERING WHEEL_MINI_SCP (case: a) OR TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK= - takeover by the driver (a) - torque sensor failure (b)
  • 47. 47 Numéro exigence Description Exigences Amont FONC-DA_CDC- SCPx-068 (1) CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it is not the case, excess steering wheel torque exists and CityPark must be stopped. The strategy of deactivation of the SCP6 function on the detection of a steering wheel takeover by the drivermust be modified during release exit phase to avoid deactivating the control IF STATE_PS_FOR_CITYPARK = Control in progress AND REQUEST_RELEASE_CITYPARK= switch from REQUEST to NO REQUEST During less than DUREE_SORTIE_RELAXE_CITYPARK ET TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERINGWHEEL_MINI_SCP_RELEASE during DURATION_TORQUE_STEERING WHEEL_MINI_SCP_RELEASE (case : a) OR TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK= - takeover by the driver (a) - torque sensor failure (b) Numéro exigence Description Exigences Amont
  • 48. 48 FONC-DA_CDC- SCPx-069 (1) CONTROL_STEERING WHEEL_CITYPARK function makes the steering wheel rotate in order to carry out the required maneuver. The driver must neither touch nor hold the steering wheel. If it is not the case, excess steering wheel torque exists and CityPark must be stopped. The strategy of deactivation of the SCP6 function on the detection of a steering wheel takeover by the drivermust be modified during release exit phase to avoid deactivating the control IF STATE_PS_FOR_CITYPARK = Control in progress AND REQUEST_RELEASE_CITYPARK= switch from REQUEST to NO REQUEST During less than DUREE_SORTIE_RELAXE_CITYPARK ET TORQUE_STEERING WHEEL_MEASUREMENT > TORQUE_STEERINGWHEEL_MINI_SCP_RELEASE during DURATION_TORQUE_STEERING WHEEL_MINI_SCP_RELEASE (case : a) OR TORQUE_STEERING WHEEL_MEASUREMENT = invalid (case: b) THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK = unavailable (a) invalid (b) AND CAUSE_DEACTIVATION_CITYPARK= - takeover by the driver (a) - torque sensor failure (b) DEACTIVATION WITH STEERING WHEEL ANGLE Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-016 (3) The CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel position. If the measurement of this angle is invalid, City Park must be stopped IF ANGLE_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= angular error too large GEN-VHL-ST-CP- 478 (1.0) GEN-VHL-ST-CP- 818 (1.0)
  • 49. 49 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-017 (3) The CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel position. If the measurement of this angle is invalid, City Park must be stopped IF ANGLE_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= angular error too large GEN-VHL-ST-CP- 609 (1.0) GEN-VHL-ST-CP- 860 (1.0)
  • 50. 50 3.3.3.3.3 DEACTIVATION WITH STEERING WHEEL ANGLE SET-POINT Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-018 (3) CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel position. If the set-point value is invalid, City Park must be stopped IF SET-POINT_ANGLE_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK = Other failures Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-019 (3) CONTROL_STEERING WHEEL_CITYPARK function controls the steering wheel position. If the set-point value is invalid, City Park must be stopped IF SET-POINT_ANGLE_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK = Other failures
  • 51. 51 3.3.3.3.4 DEACTIVATION WITH THERMAL ENGINE STATE Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-020 (3) The assistance actuator cannot operate when the engine is stopped, because it consumes too much current. Therefore, it can no longer ensure steering wheel angle control that requires high assistance. IF STATE_MT = NOT(engine is running)(*) THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=unavailable AND CAUSE_DEACTIVATION_CITYPARK=other failures (*)  Switched off stalled OR Driven start OR Switched off/ Stop OR Driven re-start OR In preparation OR Autonomous start OR Autonomous re-start GEN-VHL-ST-CP- 464 (1.0) GEN-VHL-ST-CP- 485 (1.0) GEN-VHL-ST-CP- 823 (1.0) Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-021 (3) The assistance actuator cannot operate when the engine is stopped, because it consumes too much current. Therefore, it can no longer ensure steering wheel angle control that requires high assistance. IF STATE_MT = NOT(engine is running)(*) THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=unavailable AND CAUSE_DEACTIVATION_CITYPARK=other failures (*)  Switched off stalled OR Driven start OR switched off/ Stop OR Driven re-start OR In preparation OR Autonomous start OR Autonomous re-start GEN-VHL-ST-CP- 596 (1.0) GEN-VHL-ST-CP- 616 (1.0) GEN-VHL-ST-CP- 866 (1.0)
  • 52. 52 3.3.3.3.5 ASSISTANCE ACTUATOR FAILURE = initialization, in failure mode or broken down Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-022 (3) If there is an assistance actuator failure, SCP6 control must stop because the torque that is required for control is not longer provided. Assistance actuator failure concerns cases of stopping with or without re-configuration. In case of re-configuration, the torque that is required for control is no longer provided. IF If the standard EPS assistance is in “assistance off” after a failure mode THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=de-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK= invalid AND CAUSE_DEACTIVATION_CITYPARK=other failures GEN-VHL-ST-CP- 457 (1.0) GEN-VHL-ST-CP- 458 (1.0) GEN-VHL-ST-CP- 464 (1.0) GEN-VHL-ST-CP- 473 (1.0) GEN-VHL-ST-CP- 839 (1.0) GEN-VHL-ST-CP- 484 (1.0) GEN-VHL-ST-CP- 822 (1.0) Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-023 (3) If there is an assistance actuator failure, SCP9 control must stop because the torque that is required for control is not longer provided. Assistance actuator failure concerns cases of stopping with or without re-configuration. In case of re-configuration, the torque that is required for control is no longer provided. IF If the standard EPS assistance is in “assistance off” after a failure mode THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=de-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK= invalid AND CAUSE_DEACTIVATION_CITYPARK=other failures GEN-VHL-ST-CP- 590 (1.0) GEN-VHL-ST-CP- 591 (1.0) GEN-VHL-ST-CP- 596 (1.0) GEN-VHL-ST-CP- 604 (1.0) GEN-VHL-ST-CP- 856 (1.0) GEN-VHL-ST-CP- 615 (1.0) GEN-VHL-ST-CP- 865 (1.0)
  • 53. 53 3.3.3.3.6 DEACTIVATION WITH INVALID REQUEST Requirement no. Description Upwards requirements FONC-DA_CDC- SCPx-066 (1) When the EPS is being controlled by SCP6 IF REQUEST_FUNCTION_CITYPARK = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP6= de-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_DA_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures FONC-DA_CDC- SCPx-067 (1) When the EPS is being controlled by SCP9 IF REQUEST_FUNCTION_CITYPARK = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP9= deactivate the TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_ LIMITATOR _SCP AND STATE_DA_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures
  • 54. 54 3.3.3.3.7 DEACTIVATION WITH THE STEERING WHEEL SPEED Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-024 (§) The CONTROL_STEERING WHEEL_CITYPARK function uses steering wheel speed. If the measurement of this speed is invalid, City Park must be stopped IF SPEED_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-025 (3) CONTROL_STEERING WHEEL_CITYPARK function uses la steering wheel speed. If the measurement of this speed is invalid, City Park must be stopped IF SPEED_STEERING WHEEL = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures
  • 55. 55 3.3.3.3.8 DEACTIVATION WITH TORQUE_D_ASSISTANCE_PS Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-026 (3) The CONTROL_STEERING WHEEL_CITYPARK function uses the PS assistance torque. If this torque is invalid, City Park must be stopped IF TORQUE_D_ASSISTANCE_PS = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-027 (3) CONTROL_STEERING WHEEL_CITYPARK function uses the PS assistance torque. If this torque is invalid, City Park must be stopped IF TORQUE_D_ASSISTANCE_PS = invalid THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK= Other failures
  • 56. 56 3.3.3.3.9 DEACTIVATION WITH CONTROL FAILURE There are 3 types of steering wheel angle control problem detection: 1: Static: error between set-point and measurement, at fixed set-point angle 2: Dynamic: maximum error during transitions 3: Performance: typical difference between set-point and measurement 1: Static error between set-point and the steering wheel angle measurement Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-031 (2) Steering wheel position control must have a static error that is lower than a threshold can be configured to stop the function: TORQUE_ACTUATOR_CITYPARK_SCP6 calculation if the control does not occur correctly. IF Error between set-point and the steering wheel angle measurement> ERROR_STATIC_CONTROL_SCP6 AND Observation duration when the static error is exceeded > DURATION_ ERROR_STATIC_CONTROL_SCP6 THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK=angular error too large GEN-VHL-ST-CP- 743 (2.0) GEN-VHL-ST-CP- 501 (2.0) GEN-VHL-ST-CP- 635 (2.0) GEN-VHL-ST-CP- 760 (2.0) GEN-VHL-ST-CP- 745 (2.0) GEN-VHL-ST-CP- 746 (2.0) The following parameters are used for these requirements: Parameter that gives the maximum static error between set-point and measurement of the steering wheel angle: ERROR_STATIC_CONTROL_SCP6 Parameter that gives the amount by which the static error has exceeded: DURATION_ERROR_STATIC_CONTROL_SCP6
  • 57. 57 Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-032 (3) Steering wheel position control must have a static error that is lower than a threshold can be configured to stop function: TORQUE_ACTUATOR_CITYPARK_SC96 calculation if the control does not occur correctly. IF Error between set-point and steering wheel angle measurement > ERROR_STATIC_CONTROL_SCP9 AND Duration of the observation when the static error is exceeded > DURATION_ ERROR_STATIC_CONTROL_SCP9 THEN SITUATION_D_DISABLING_TEMPORAL_SCP9=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP9 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK=invalid AND CAUSE_DEACTIVATION_CITYPARK=angular error too large GEN-VHL-ST-CP- 743 (2.0) GEN-VHL-ST-CP- 735 (2.0) GEN-VHL-ST-CP- 501 (2.0) GEN-VHL-ST-CP- 635 (2.0) GEN-VHL-ST-CP- 789 (2.0) GEN-VHL-ST-CP- 662 (2.0) GEN-VHL-ST-CP- 747 (2.0) The following parameters are used for these requirements: Parameter that gives the maximum static error between set-point and measurement of the steering wheel angle: ERROR_STATIC_CONTROL_SCP9 Parameter that gives the amount by which the static error has exceeded: DURATION_ERROR_STATIC_CONTROL_SCP9
  • 58. 58 2: Dynamic error between set-point and steering wheel angle measurement Requirement no. Description Upward requirements FONC-PS_CDC- SCPx-033 (3) The steering wheel position control must have a correct dynamic error to ensure good City Park performance. The dynamic error is a maximum deviation change between the set-point and the steering wheel angle measurement, from instant t to previous sample Given: Deviation(t) = set-point(t)-measurement(t) of steering wheel angle Deviation(t) is the deviation between the set-point and the measurement at given instant t p = sampling period IF Deviation(t) – Deviation(t-p) > ERROR_DYNAMIC_CONTROL_SCP6 THEN SITUATION_D_DISABLING_TEMPORAL_SCP6=De-activate torque TORQUE_ACTUATOR_CITYPARK_SCP6 with delay = DURATION_DEACTIVATION_RATE_LIMITATOR_SCP AND STATE_PS_FOR_CITYPARK= invalid AND CAUSE_DEACTIVATION_CITYPARK=angular error too large GEN-VHL-ST-CP- 743 (2.0) GEN-VHL-ST-CP- 501 (2.0) GEN-VHL-ST-CP- 635 (2.0) GEN-VHL-ST-CP- 745 (2.0) GEN-VHL-ST-CP- 746 (2.0) The following parameters are used for these requirements: Parameter that gives the maximum dynamic error between set-point and steering wheel angle measurement, for 2 successive samples: ERROR_DYNAMIC_CONTROL_SCP6