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Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 1/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
Référence / Reference :
01552_15_07461
DIRECTION RECHERCHE ET DEVELOPPEMENT
DIRECTION DES SYSTEMES ELECTRICITE ET ELECTRONIQUE
DIVISION of RESEARCH AND DEVELOPMENT
DIVISION of ELECTRIC ELECTRONIC SYSTEMS
ST DE LA PARTIE DAE DE LA
FONCTION PRODUIRE L’ANGLE COLONNE RECALÉ
AVEC UN OFFSET ESTIMÉ ET MÉMORISÉ
(dite « CAV3-virtuel »)
TS OF THE EPS PART OF THE
FUNCTION PRODUCE THE READJUSTED COLUMN ANGLE
WITH AN ESTIMATED AND MEMORIZED OFFSET
(known as virtual-CAV3)
Cette Spécification Technique (ST) est un document qui rassemble pour le système considéré les exigences
techniques spécifiées et mises en cohérence de toutes les parties prenantes. Il exprime ce que doit faire le
système, non comment il doit le faire. Ce document est bilingue. En cas de litige sur la traduction, le texte français
fait foi.
This Technical Specification (TS) is a document that groups the technical requirements for the given system,
specified and made consistent by all the stakeholders. It states what the system should do, not how it should do it.
In the event of litigation on the translation, the French text has probative force.
Rédacteur/ Drafted by Vérificateur/ Checked by Approbateur/ Approved by
Nom/ Name JF Maillard Nom/ Name: Nom/ Name:
Entité/ Entity:
DSEE/MCDV/E2TC/SDTC
Entité/ Entity: Entité/ Entity:
Date :
29/06/2017
Signature : Date : Signature : Date : Signature :
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 2/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
Historique / History
Version
Date
drafted by
Nature of modifications
1.0
10/11/2015
JF Maillard
Creation
2.0
11/12/2015
JF Maillard
2.2.1
The offset can also be gauged with 0°  The offset can also be gauged
5.5.1.6
GEN-EPS-TS-RCA. 0047 (2.0): If ANGLE_VOLANT is not “invalid” then ETAT_CAPT_VOL is
“operational” (instead of “invalid”)
5.2
GEN-EPS-TS-RCA. 0050 (1.0) added:
maximum error of the relative column angle is +/- 2.0°
GEN-EPS-TS-RCA. 0051 (1.0) added:
maximum error of hysteresis of the relative column angle is +/- 1.5°.
GEN-EPS-TS-RCA. 0052 (1.0) added:
maximum error of nonlinearity at 3 seconds of the relative column angle is +/- 2.5°.
GEN-EPS-TS-RCA. 0053 (1.0) added:
maximum delay of the readjusted column angle is 15 ms.
2.1
25/02/2016
JF Maillard
5.1.1.3
PRECISION_OFFSET – values: [0;63]  [0;61] degrees
5.1.1.5
GEN-EPS-TS-RCA. 0014 (2.0): CONFIG_VHL = “invalid” suppressed of the conditions to deactivate
the function.
Heading of GEN-EPS-TS-RCA. 0030 added: CPT = CPT + 1
Heading of GEN-EPS-TS-RCA. 0031 added: Produce relative angle of the steering-column
Heading of GEN-EPS-TS-RCA. 0032 added: Lock of the function until ESC acknowledged an
interruption
Heading of GEN-EPS-TS-RCA. 0033 added: taking into account of the offset
GEN-EPS-TS-RCA. 0030 (2.0): suppression of ETAT_SECU_ANGLE_COL = “reliable”; correction of
FLG_INIT_AVOL into FLG_AVOL_ICN:
FLG_INIT_AVOL = “steering wheel angle not available”  FLG_AVOL_ICN = “steering wheel angle
not accurate”
GEN-EPS-TS-RCA. 0032 (2.0): addition of ETAT_SECU_ANGLE_COL = “reliable”
GEN-EPS-TS-RCA. 0038 (2.0): suppression of “absolute value”; correction of FLG_INIT_AVOL into
FLG_AVOL_ICN; addition of CALIBRATION_VOL depending of the the readjusted column angle
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 3/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
accurate availability:
IF absolute value of EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD
THEN FLG_INIT_AVOL = “steering wheel angle available”
ELSE FLG_INIT_AVOL = “steering wheel angle not available”
IF absolute value of EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD
THEN FLG_INIT_AVOL = “steering wheel angle accurate”
ELSE FLG_INIT_AVOL = “steering wheel angle not accurate”
replaced by:
IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD
THEN FLG_INIT_AVOL = “steering wheel angle available”
ELSE FLG_INIT_AVOL = “steering wheel angle not available”
IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD
THEN FLG_AVOL_ICN = “steering wheel angle accurate”, CALIBRATION_VOL = “Sensor
calibrated”
ELSE FLG_AVOL_ICN = “steering wheel angle not accurate”, CALIBRATION_VOL = “Sensor not
calibrated”
GEN-EPS-TS-RCA. 0047 (3.0):
ANGLE_VOLANT = “invalid”  ANGLE_COLONNE = “invalid” to set ETAT_CAPT_VOL = “faulty”.
2.2
25/05/2016
JF Maillard
2.2.1
Offset self-determinated: [rotation of the steering column] “corresponding to characteristic points of
the rack travel” added.
“lock to lock” is an exemple.
5.1.1.3
PRECISION_OFFSET – values: [0;61]  [0;29] degrees
ACQ_INTERRUPT_DAE added
DATA1_VOL added
CCW1_VOL_1 added
CCW2_VO added
DATA2_VOL added
CPT_INTERRUPT_SURV replaced by ETAT_DAE_CAV3_VIRTUEL
5.1.1.5
State machine RCA_FUNCTION_STATE: “CPT = CPT+1” replaced by “RCA initialization”
GEN-EPS-TS-RCA. 0026 (1.0) removed. Initialization of CPT_INTERRUPT_SURV
GEN-EPS-TS-RCA. 0029 (2.0): addition of “ETAT_DAE_CAV3_VIRTUEL = “invalid”” when “Failure
to produce RCA”
GEN-EPS-TS-RCA. 0031 (2.0): addition of ETAT_SECU_ANGLE_COL = “reliable”” when “Produce
RCA”
GEN-EPS-TS-RCA. 0030 (2.0) and its heading “CPT = CPT + 1” replaced by GEN-EPS-TS-RCA.
0054 (1.0) and its heading “RCA initialization”: use of ETAT_DAE_CAV3_VIRTUEL instead of
CPT_INTERRUPT_SURV to initialize the function.
GEN-EPS-TS-RCA. 0032 (2.0) replaced by GEN-EPS-TS-RCA. 0055 (1.0): use of
ETAT_DAE_CAV3_VIRTUEL, instead of CPT_INTERRUPT_SURV, and ACQ_INTERRUPT_DAE to
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 4/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
lock the function.
GEN-EPS-TS-RCA. 0033 (2.0) : to take into account the offset, addition of:
- If no offset is known by EPS, ESP takes into account offset provided by ESC as soon as it is
available.
- If the offset known by EPS is inconsistent with the one provided by ESC, EPS takes into
account offset provided by ESC under suitable conditions.
Heading of GEN-EPS-TS-RCA. 0038 added: Set of the outputs “readjusted column angle” and flags
GEN-EPS-TS-RCA. 0038 (3.0): “ECU STATE is “Init” OR “Running” OR “Comlatch” cf [R/E]”
replaced by “RCA_FUNCTION_STATE is “Produce RCA””
GEN-EPS-TS-RCA. 0034 (1.0) replaced by GEN-EPS-TS-RCA. 0056 (1.0): use of
ETAT_DAE_CAV3_VIRTUEL instead of CPT_INTERRUPT_SURV to compute Checksum
GEN-EPS-TS-RCA. 0035 (1.0) replaced by GEN-EPS-TS-RCA. 0057 (1.0): use of
ETAT_DAE_CAV3_VIRTUEL instead of CPT_INTERRUPT_SURV to compute Process Counter
Heading of GEN-EPS-TS-RCA. 0041: “Offset calibrated through external request” replaces “Offset
calibrated through diagnostic service”
GEN-EPS-TS-RCA. 0041 (2.0): for calibration and decalibration:
- Diagnostic service removed,
- Condition on vehicle speed added,
- Calibration data (DATA1_VOL, CCW1_VOL_1, CCW2_VOL, DATA2_VOL ) added
- Management of ETAT_DAE_CAV3_VIRTUEL added
- RCA_MEMORIZATION_HABILITATION_STATE = “deactivated” added
GEN-EPS-TS-RCA. 0058 (1.0) added. The EPS implements a process of self-determination of the
Rack center assimilated to the straight line center (giving an offset).
5.3.1.1 Diagram “network interfaces” up dated (Calibration data, ETAT_DAE_CAV3_VIRTUEL,
ACQ_INTERRUPT_DAE…)
2.3
19/09/2016
JF Maillard
5.1.1.3
CPLE_VOLANT_OPTMSE added
5.1.1.4
OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED_THRESHOLD: degrees  degrees/s
ESC_OFFSET_DATA_ARE_VALID added
5.1.1.5
GEN-EPS-TS-RCA. 0059 (1.0) added. Set of ESC_OFFSET_DATA_ARE_VALID if data received
from ESC are valid since 3 consecutive period
GEN-EPS-TS-RCA. 0033 (3.0):
Addition of one case and conditions to take into account the offset send by the ESC: if the offset
known by EPS is not accurate then offset from ESC is taken into account as soon as available.
Addition of “VITESSE_VEHICULE_ROUE is valid” to the conditions to take into account the offset.
TS-RCA. 0042 (2.0)
Addition of VITESSE_VEHICULE_ROUE validity to activate the offset self determination research.
GEN-EPS-TS-RCA. 0044 (2.0)
Addition of VITESSE_VEHICULE_ROUE validity to take into account the self determinated offset.
“COLUMN_ROTATION_SPEED” is replaced by “VITESSE_COLONNE”.
“STEERING_WHEEL_TORQUE” is replaced by “CPLE_VOLANT_OPTMSE”.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 5/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.2
GEN-EPS-TS-RCA. 0052 (2.0): “3 seconds” is replaced by “3 Sigma”.
6
Chapter added: “Identifiers of the removed requirements”.
3.0
04/07/2017
JF Maillard
2.2.1
‘offset calibration, thanks to a service of diagnosis’, removed from presentation
‘offset self-determinated by the EPS’ removed from presentation
Prototype signals replaced by official signals:
5.1.1.3
OFFSET  STEER_ANGLE_OFFSET
Value ‘unavailable’ added
PRECISION_OFFSET  STEER_ANGLE_OFFSET_ACCUR
ACQ_INTERRUPT_DAE  VIRTUAL_SWS3_ESP_ACK
ETAT_DAE_CAV3_VIRTUEL  VIRTUAL_SWS3_EPS_STATE
011 : EPS works with the ESC offset  Offset used
100 : EPS works with calibrated offset  Reserved
101 : EPS works with self-determined offset  Reserved
5.1.1.5
Related requirements:
GEN-EPS-TS-RCA. 0012 (1.1)
GEN-EPS-TS-RCA. 0013 (2.0)
GEN-EPS-TS-RCA. 0055 (1.1)
GEN-EPS-TS-RCA. 0059 (2.0)
GEN-EPS-TS-RCA. 0033 (3.1)
Filtering of the offset on 2 identical information value
5.1.1.5
Heading of GEN-EPS-TS-RCA. 0059 added: filtering of information of offset
GEN-EPS-TS-RCA. 0059 (2.0): “the same valid value since 2 consecutives times” replaces
“a valid received valid value since 3 consecutives times” to consider
STEER_ANGLE_OFFSET_ACCUR et STEER_ANGLE_OFFSET are valid.
Offset calibration removed:
5.1.1.3
DATA1_VOL removed
CCW1_VOL_1 removed
CCW2_VO removed
DATA2_VOL removed
5.3.1.1
In Contextual diagram, removal of sub-functions “ask for calibration” and “Calibrate offset”,
and signals between them.
Offset self-determination removed
5.1.1.5
GEN-EPS-TS-RCA. 0058 (1.0) removed
GEN-EPS-TS-RCA. 0042 (2.0) removed
GEN-EPS-TS-RCA. 0043 (1.0) removed
GEN-EPS-TS-RCA. 0044 (2.0) removed
GEN-EPS-TS-RCA. 0045 (1.0) removed
Addition of diagnosis “Loss of reference of measurement of the column angle while asleep”:
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 6/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.1.1.4
MEASUREMENT_INTERRUPTED_ASLEEP added.
5.1.1.5
Fault log: loss of reference of measurement while asleep added.
GEN-EPS-TS-RCA. 0060 (1.0) added. Conditions to set and reset
MEASUREMENT_INTERRUPTED_ASLEEP
Signal CALIBRATION_VOL is always set to “Sensor calibrated”:
(CALIBRATION_VOL is no more depending on the knowledge of an offset)
GEN-EPS-TS-RCA. 0029 (3.0): removal of: CALIBRATION_VOL = “Sensor not calibrated” if
“Failure to produce RCA”.
GEN-EPS-TS-RCA. 0038 (4.0): removal of: CALIBRATION_VOL = “Sensor calibrated” /
“Sensor not calibrated” depending on EFFECTIVE_OFFSET_ACCURACY level.
GEN-EPS-TS-RCA. 0048 (2.0): addition of: CALIBRATION_VOL = “Sensor calibrated”
(without condition)
Addition of diagnosis STEER_ANGLE_OFFSET “invalid”:
5.1.1.5
GEN-EPS-TS-RCA. 0013 (2.0): diagnosis STEER_ANGLE_OFFSET “invalid” is added to the
check of the network input flows.
Addition of diagnosis “Offset provided by ESC inconsistent with the one known by EPS”:
5.1.1.4
ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION added.
ESC_AND_EPS_OFFSET_INCONSISTENT added.
5.1.1.5
Fault log: loss of reference of measurement while asleep added.
GEN-EPS-TS-RCA. 0061 (1.0) added. Conditions to set and reset
ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION and
ESC_AND_EPS_OFFSET_INCONSISTENT.
Correction of the Checksum and Process Counter computation:
5.1.1.5
GEN-EPS-TS-RCA. 0056 (2.0): CHKSUM_TRME_DYN_DAE is computed according to
[CHK/CPT] and [CAN]
GEN-EPS-TS-RCA. 0057 (2.0): CPT_PROCESS_4B_DAE is computed according to
[CHK/CPT] and [CAN]
GEN-EPS-TS-RCA. 0039 (2.0): CHKSUM_VOL is computed according to [CHK/CPT] and
[CAN]
GEN-EPS-TS-RCA. 0040 (2.0): CPT_PROCESS_4B_A_VOL is computed according to
[CHK/CPT] and [CAN]
6 - Removed requirements:
GEN-EPS-TS-RCA. 0041
GEN-EPS-TS-RCA. 0058
GEN-EPS-TS-RCA. 0042
GEN-EPS-TS-RCA. 0043
GEN-EPS-TS-RCA. 0044
GEN-EPS-TS-RCA. 0045
Intervenants / Participants
À compléter
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 7/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
To be completed
Langage de reference / Reference language
The reference language of the present document is english.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 8/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
SOMMAIRE / SUMMARY
1. OBJET/ PURPOSE 9
2. DOMAINE D’APPLICATION/SCOPE 10
2.1. CONTEXTE DE DEVELOPPEMENT DU SYSTEME/ SYSTEM DEVELOPMENT CONTEXT 10
2.2. DESCRIPTION GENERALE DU SYSTÈME/ GENERAL DESCRIPTION OF THE SYSTEM 10
2.2.1. Rôle fonctionnel du système/ Functional system role 10
2.2.2. Architecture physique du système/ Physical system architecture 11
2.2.3. Diversité du système/ System diversity 12
2.2.3.1. Diversité fonctionnelle/ Functional diversity 12
2.2.3.2. Diversité d’architecture 12
3. DOCUMENTS CITES/ QUOTED DOCUMENTS 13
3.1. DOCUMENTS DE REFERENCE/ REFERENCE DOCUMENTS 13
3.2. DOCUMENTS APPLICABLES / APPLICABLE DOCUMENTS 13
4. TERMINOLOGIE / TERMINOLOGY 14
4.1. GLOSSAIRE/ GLOSSARY 14
4.2. SIGLES ET ACRONYMES 14
4.3. CONVENTION D’ECRITURE/ WRITING CONVENTION 14
5. EXIGENCES/ REQUIREMENTS 16
5.1. EXIGENCES FONCTIONNELLES / FUNCTIONAL REQUIREMENTS 16
5.1.1. Cas d’utilisation 1/ Use case 1 16
5.1.1.1. Protocoles d’entrée/ Inputs Protocols 16
5.1.1.2. Diagramme de contexte / Contextual diagram 16
5.1.1.3. Liste des E/S applicatives / List of applicative I/O 16
5.1.1.4. Données internes/ Internal data 18
5.1.1.5. Exigences applicatives/ Application requirements 20
5.1.1.6. Protocoles de sortie/ Outputs Protocols 36
5.1.2. Cas d’utilisation 2/ Use case 2 37
5.2. EXIGENCES DE PERFORMANCE/ PERFORMANCE REQUIREMENTS 37
5.3. EXIGENCES D’INTERFACES EXTERNES/ EXTERNAL INTERFACES REQUIREMENTS 38
5.3.1. Interfaces réseaux/ network interfaces 38
5.3.1.1. Diagramme de contexte / Contextual diagram 38
5.3.1.2. Réception et envoi des trames / Réception and sending frames 38
5.3.1.3. Interprétation des données « réseau » / Interpretation of "network" data 38
5.3.2. Interfaces électriques/ Electrical interfaces 39
5.3.3. Interfaces mécaniques/ mechanical interfaces 39
5.3.4. Interfaces homme-machine/ Man-machine Interfaces 39
5.3.5. Autres Interfaces physiques/ Other physical interfaces 39
5.4. EXIGENCES OPERATIONNELLES/ OPERATIONAL REQUIREMENTS 40
5.5. EXIGENCES DE CONTRAINTE/ CONSTRAINT REQUIREMENTS 40
5.6. EXIGENCES D’INTEGRATION ET DE VALIDATION/ INTEGRATION AND VALIDATION REQUIREMENTS
40
6. IDENTIFIANTS DES EXIGENCES SUPPRIMEES / IDENTIFIERS OF THE REMOVED REQUIREMENTS 40
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
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CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
1.OBJET/ PURPOSE
L’objectif du présent CdC est de :
 lister et d’affiner les exigences impactant le fonctionnel du système Direction Assistée Electrique (DAE)
 situer le système dans son environnement via le diagramme de contexte,
 préciser les interfaces externes,
 préciser les exigences de performance, opérationnelles, de contrainte, d’intégration et de validation du
système.
The goal of the present TS is:
 to list and refine the requirements that have an impact on the Electric Power Steering (EPS) system
functionality,
 locate the system in its environment via the contextual diagram,
 specify the external interfaces,
 to specify the performance, operational, constraint, integration, and validation requirements for the system.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 10/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
2.DOMAINE D’APPLICATION/SCOPE
2.1.CONTEXTE DE DEVELOPPEMENT DU SYSTEME/ SYSTEM DEVELOPMENT
CONTEXT
Le présent Cahier des Charges décrit les exigences de la fonction Angle Colonne Recalé avec un offset estimé et
mémorisé applicables à un système DAE développé dans le cadre d’un projet véhicule du groupe PSA Peugeot
Citroën.
The current Specification describes the requirements of the readjusted column angle with an estimated and
memorized offset function applicable to an EPS system developed for a vehicle project within the PSA Peugeot
Citroën group.
Présentation de la finalité du système / Presentation of the system purpose :
La finalité de la fonction est de produire un angle colonne de direction recalé, disponible dès le réveil du véhicule
(après une première détermination du recalage), cela afin de permettre de connaître la direction du véhicule.
The finality of the function is to produce a readjusted steering column angle, available at the wake-up of the vehicle
(after a first determination of readjustment), that in order to make it possible to know the direction of the vehicle.
2.2.DESCRIPTION GENERALE DU SYSTÈME/ GENERAL DESCRIPTION OF THE SYSTEM
2.2.1.ROLE FONCTIONNEL DU SYSTEME/ FUNCTIONAL SYSTEM ROLE
La DAE mesure en permanence la position angulaire de la colonne de direction grâce aux capteurs d’angle de
rotation de son moteur, cet angle colonne est relatif à la position en début de mesure. Le décalage entre la position
mesurée et la position correspondant au déplacement du véhicule en ligne droite est appelé offset (erreur
constante).
L’ESP, grâce aux informations des ses capteurs, vitesse de chaque roue, vitesse de lacet, accélération latérale,
détermine la trajectoire du véhicule. Il la compare à l’orientation du véhicule donnée par l’angle colonne ce qui
donne une estimation de l’offset. Au fil du roulage et selon les trajectoires parcourues, la précision de l’offset estimé
s’améilore.
En corrigeant l’angle colonne relatif avec l’offset, on obtient un angle colonne recalé (ou angle colonne absolu) par
rapport au déplacement en ligne droite.
La DAE mesure la position angulaire de la colonne de direction en permanence, y compris véhicule endormi
(contact coupé), et donc les mouvements venant du volant ou des pneus ; ainsi, au cours des cycles de roulage
successifs, l’angle colonne reste relatif à la première position de mesure, et l’offset déjà déterminé reste significatif.
Une fois l’offset déterminé, l’angle colonne recalé est donc disponible dès le réveil du véhicule (mise contact).
En cas d’arrêt de la mesure de rotation de la colonne, comme il est possible que la colonne ait tourné, la fonction
est réinitialisée et elle attend de connaître un nouvel offset pour produire l’angle colonne recalé.
Fonctionnement retenu :
- La DAE produit et émet l’angle colonne relatif.
- L’ESP estime l’offset, associé à une précison de cet offset, et les émet.
- Si l’offset déterminé par l’ESP est meilleur que celui déjà utilisé par la DAE, ou qu’elle ne connait pas
d’offset, la DAE va remplacer son offset effectif par le nouvel offset venant de l’ESP. La DAE effectue le
remplacement de son offset effectif seulement quand le véhicule est dans une situation adaptée (dans le
but qu’un éventuel « saut d’angle » n’ait pas de conséquence pour les consommateurs).
- Quand elle connait un offset effectif, la DAE émet l’angle colonne recalé, égal à l’angle colonne relatif
corrigé de l’offset.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 11/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
- L’offset peut aussi être calibré, grâce à un service de diagnostic (UT ou APV) lors d’un réglage de
parallélisme des roues.
- L’offset peut aussi être auto-déterminé par la DAE, suite à la perte de l’offset (défaillance), par mesure de
rotation de la colonne de direction correspondant à des points caractéristiques de la position crémaillère
lorsqu’on fait tourner le volant (par example : de butée à butée), véhicule à l’arrêt.
Remarque : La fonction est dite « CAV3-virtuel » car elle fournit un angle colonne absolu, comme le CAV3 (Capteur
physique d’Angle Volant absolu) mais le caractère absolu est réalisé par estimation et de façon numérique.
The EPS permanently measures the angular position of the steering column thanks to its motor rotation angle
sensors, this column angle is relative to the position at the beginning of measurement. The diference between the
measured position and the position corresponding to the travel of the vehicle on straight line is called offset
(constant error).
The ESC, thanks to information of its sensors, speed of each wheel, yaw rate, lateral acceleration, determines the
trajectory of the vehicle. It compares it to the orientation of the vehicle given by the column angle what gives an
estimation of the offset. With the drivings and according to the traversed trajectories, the precision of the estimated
offset gets better.
By correcting the relative column angle with the offset, one obtains a readjusted column angle (or absolute column
angle) compared to travel straight.
The EPS permanently measures the angular position of the steering column, including vehicle asleep (contact off),
and thus the movements coming from the steering wheel or the tires; thus, during successive driving cycles, the
column angle remains relative to the first position of measurement, and the already given offset remains significant.
Once the offset is determined, the readjusted column angle is thus available at the vehicle wake-up (contact on).
In the event of stop of the measurement of rotation of the column, as it is possible that the column turned, the
function is re-initialized and it waits to know a new offset to produce the readjusted column angle.
Operation selected:
- The EPS produces and emits the relative column angle.
- The ESC estimates the offset, associated with an offset accuracy, and emits them.
- If the offset determined by the ESC is better than the one already used by the EPS, or EPS does not know
any offset, the EPS will replace its effective offset by the new offset coming from ESC. The EPS carries out
the replacement of its effective offset only when the vehicle is in an adapted situation (with an aim that a
possible “jump of angle” has no consequence for the consumers).
- When it knows an effective offset, the EPS emits the readjusted column angle, equal to the relative angle
column corrected with the offset.
- The offset can also be gauged, thanks to a service of diagnosis (Plant or AS) during a wheel alignment.
- The offset can also be self-determinated by the EPS, following the loss of the offset (failure), by
measurement of rotation of the steering column corresponding to characteristic points of the rack travel
when one turns the steering wheel (for example, from lock to lock), vehicle stopped.
Note: The function is known as “virtual-CAV3” because it provides an absolute column angle, as the CAV3
(absolute physical Steering Wheel Sensor) but the absolute nature is carried out by estimate and in a digital way.
2.2.2.ARCHITECTURE PHYSIQUE DU SYSTÈME/ PHYSICAL SYSTEM
ARCHITECTURE
Le synoptique ci-dessous représente les liens physiques principaux entre les différents organes lorsqu’ils sont
présents. Ce diagramme est donné pour la compréhension du contexte.
The flowchart below represents the main physical connections between the different components when they are
present. This diagram is provided for understanding the context.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 12/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
À compléter
To be completed
Conventions graphiques des schémas :
Graphic conventions for the diagrams:
: Organe/ Component
: Alimentation électrique/ Electric power supply
: Liaison multiplexée : LIN/ Multiplex link: LIN
: Liaison multiplexée : CAN LS FT CONFORT / Multiplex link: CAN LS FT COMFORT
: Liaison mécanique/ Mechanical connection
: Liaison filaire/ Wire connection
: Liaison sans fil/ Wireless link
: Capteur ou actionneur intégré physiquement à un calculateur/ Sensor or actuator
physically built-in to a computer
2.2.3.DIVERSITE DU SYSTEME/ SYSTEM DIVERSITY
2.2.3.1.Diversité fonctionnelle/ Functional diversity
Non applicable / not applicable
2.2.3.2.Diversité d’architecture
Non applicable / not applicable
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 13/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
3.DOCUMENTS CITES/ QUOTED DOCUMENTS
3.1.DOCUMENTS DE REFERENCE/ REFERENCE DOCUMENTS
Les documents de référence sont les spécifications d’entrée pour la construction de la ST. Ils ne sont pas
nécessaires à la réalisation du système et ne sont donc pas livrables au fournisseur. Leurs exigences sont
déclinées au niveau de l’organe dans la présente ST.
The reference documents are the input specifications for building the ST. They are not needed for the
implementation of the system and therefore will not be sent to the supplier. Their requirements are made available
at the unit level in this TS.
3.2.DOCUMENTS APPLICABLES / APPLICABLE DOCUMENTS
Repère/
Mark
Référence/
Reference
Version/
version
Titre/
Title
[D/A] 01452_12_00155 cf TS software
Démarrage, maintien, Arrêt assistance de direction DAE
Steering Assistance « Start up », « Hold » and « Shut down » EPS
[R/E] 01554_10_05004 cf TS software
ST Réveil / Endormissement DAE et DAEH
Wake up and Shutdown TS EPS and HEPS
[CAN] cf TS software cf TS software
Messagerie CAN
CAN messaging
[HW] cf TS software cf TS software
ST DAE – partie électrique électronique
TS EPS – Electric Electronic part
[CKS/CPT] 01554_10_00970 cf TS software
Frames Securization by Checksum and Process Counter STE
STE Sécurisation Trames par Checksum et Compteur de Processus
[EPS_TS] cf TS software cf TS software Technical Specification Electric Power Steering for <project>
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 14/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
4.TERMINOLOGIE / TERMINOLOGY
4.1.GLOSSAIRE/ GLOSSARY
4.2.SIGLES ET ACRONYMES
+APC + APrès Contact / + After ignition feed
ER Evénement Redouté / Dreaded Event
À compléter
To be completed
4.3.CONVENTION D’ECRITURE/ WRITING CONVENTION
1- Exigences :
Les exigences sont présentées sous la forme d’un tableau à 3 colonnes:
1 Requirements:
The requirements are submitted in the form of a table that contains 3 columns:
Identifiant
d’exigence /
requirement
identification
Libellé de l’exigence / Description of the requirement exigence
amont /
upstream
requirement
Texte de l’exigence
Text of the requirement
[Traduction du texte de l’exigence dans la langue « X » en bleu italique]
[Translation of the text of the requirement in the language “X” in Italic blue]
[Commentaire éventuel, non spécifiant, en italique]
[Possible Comment, not specifying, in italic]
[Attribut]
[Attribute]
Numérotation des exigences/ Numbering of requirements: APP-SYS-DOC-CHAP.nnnn (V.V) :
APP : Application générique (GEN) ou Projet (ex. B9)
Generic application (GEN) or Project (ex. B9)
: 5 caractères max
: max 5 characters
SYS : Système étudié (VHL, BSI, CdPL, etc.)
System studied (VHL, BSI, CdPL, etc.)
: 10 caractères max
: max 10 characters
DOC : Type de document (ST, DC, etc.)
Document type (TS, DC, etc.)
: 5 caractères max
: max 5 characters
CHAP : Chapitre du document ou Nom de la fonction (véhicule ou de
conception) (ex. ASOP, ECLI,…)
Document chapter or function name (vehicle or design) (ex.
ASOP, ECLI,…)
: 20 caractères max
: max 20 characters
nnnn : Numéro de l’exigence
Number of the requirement
: 4 chiffres
: 4 digits
V.V : Version de l’exigence
Requirement version
: 0.x puis 1.x, 2.x…
: 0.x then 1.x, 2.x…
 GEN-EPS-TS-RCA. nnnn (V.V)
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 15/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
Attributs des exigences :
Certaines exigences ont besoin d’être signalées dans la ST par un attribut spécifique afin de faciliter un traitement
particulier qui leur est associé. Ce traitement particulier concerne un besoin de traçabilité interne à PSA, ou des
exigences complémentaires concernant le fournisseur.
Requirements attributes:
Some requirements need to be highlighted in the ST by a specific attribute to facilitate the specific processing
associated with them. This specific processing concerns a PSA internal traceability requirement, or additional
requirements concerning the supplier.
Type d’attribut/
Type of attribute
Nature de l’exigence/
Nature of requirement
Traitement particulier/ Particular treatment
att_SdF@ « Gxn » Exigence Sûreté de
Fonctionnement
Failsafe Operation
Requirement
Cette exigence répond à un ER de gravité 3 ou 4
« Gx » désigne le niveau de gravité (G1 à G4) « n »
l’ASIL (A, B, …).
This requirement is a response to a DE (Dreaded
Event) of criticality 3 or 4. "Gx" designates the
criticality level (G1 to G4) "n" the ASIL (A, B, … ).
Att_var@ « var1 » …
« var i »
Tout type
Any type
Exigence applicable aux variantes « var 1 » …
« var i ».
Requirement applicable to variants "var 1" ... "var i".
Remarque :
Le système est classé « Sécuritaire » selon norme A13 3310 s’il participe à au moins un ER de gravité 4 ASIL C ou
D en coupe d’ordre 1. Les exigences sécuritaires sont donc celles qui répondent à ces ER.
Note:
The system is classified as "Safety" according to standard A13 3310 if it takes part in at least one criticality 4 ER
ASIL C or D in cuts of rank 1. The safety requirements are therefore those who meet these ER.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 16/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.EXIGENCES/ REQUIREMENTS
5.1. EXIGENCES FONCTIONNELLES / FUNCTIONAL REQUIREMENTS
Ce chapitre présente une structuration des exigences qui n’est aucunement spécifiante et ne doit pas contraindre
la conception.
5.1.1.CAS D’UTILISATION 1/ USE CASE 1
5.1.1.1.Protocoles d’entrée/ Inputs Protocols
<vide>
<empty>
5.1.1.2.Diagramme de contexte / Contextual diagram
À compléter
To be completed
5.1.1.3.Liste des E/S applicatives / List of applicative I/O
Désignation des E/S /
Designation of the I/O
Valeurs /
Values
Description
Intputs
CHKSUM_TRME_DYN_UCF cf [CHK/CPT] and [CAN] UCF frame dynamic checksum
CPT_PROCESS_4B_UCF cf [CHK/CPT] and [CAN] 4bits compute process counter for UCF
OFFSET
STEER_ANGLE_OFFSET
[-1630;1630] degrees
unavailable (initialization)
invalid (initialization)
Difference between the absolute rotation angle of the
steering column, defined at 0° when the vehicle runs in
a straight line, and the relative rotation angle of the
steering column, uninterrupted measurement of angles
variations.
Precision: PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR
Ecart entre l’angle absolu de rotation de la colonne de
direction, défini à 0° quand le véhicule roule droit, et
l’angle relatif de rotation de la colonne de direction,
mesure ininterompue d’écarts d’angles.
Précision: PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR
PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR
[0; 29] degrees
unavailable (initialization)
invalid
Absolute value of the accuracy of the estimated offset
(accuracy except dysfunction).
Valeur absolue de la précision de l’offset estimé
(incertitude hors dysfonctionnement).
ACQ_INTERRUPT_DAE
VIRTUAL_SWS3_ESP_ACK
No acknowledge
(initialization)
Acknowledge
Indicateur d’acquittement de la demande
d’initialisation d’offset.
Acknowledge flag of the offset initialization request
VITESSE_VEHICULE_ROUE [0;250] km/h
invalid
(initialization:
VEH_SPD_INIT cf [CAN])
Vehicle speed.
Vitesse véhicule.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 17/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
CONFIG_VHL 000 : Fitting
001 : Plant
010 : Check
011 : Storage / Transport
100 : Client
101 : APV
110 : Show room
111 : Invalid
Vehicle configuration state
Etat de la configuration véhicule
DATA1_VOL 0101 RCA data, 1rst part
Données RCA 1ère partie
CCW1_VOL_1 0011 : Calibrate RCA
0101 : Invalidate RCA
RCA Command control word_part 1
Mot de commande RCA _partie 1
CCW2_VO 0 RCA Command control word_part 2
Mot de commande RCA_partie 2
DATA2_VOL 0110000 RCA data, 2nd part
Données RCA 2ème partie
CPLE_VOLANT_OPTMSE [-10;10] N.m
invalid (initialization)
resolution: 0.1
Steering-wheel torque measured.
note: this input of the readjusted steering-column
angle function is an output of the EPS
Couple volant mesuré.
Remarque : cette entrée de la fonction angle recalé de
la colonne de direction est une sortie d ela DAE.
Outputs
ANGLE_VOLANT [-780;780] degrees
(initialization: 0°)
invalid
Readjusted angle of the steering-column.
Angle recalé de la colonne de direction.
VITESSE_ROT_VOL [0;1016] degrees/s
(initialization: 0°/s)
invalid
Rotation speed of the steering-column.
Vitesse de rotation de la colonne de direction.
SENS_ROT_VOL positive (initialization)
negative
Direction of rotation of the steering-column.
Sens de rotation de la colonne de direction.
CODE_DEFAUT_VOL No default Steering Wheel Sensor fault coding.
Codage défaut Capteur Angle Volant.
TRIM_VOL trimmed Steering Wheel Sensor trimmed.
Capteur Angle Volant ajusté.
CALIBRATION_VOL not calibrated (init.)
calibrated
State of calibration of the Steering Wheel Sensor.
Etat de calibration du Capteur Angle Volant.
ETAT_CAPT_VOL faulty
operational (init.)
State of the Steering Wheel Sensor.
Etat Capteur Angle Volant.
CHKSUM_VOL SWS checksum
CPT_PROCESS_4B_A_VOL 4 bits Compute process counter for SWS
VITESSE_ROT_VOL_OPTIMISE [0;1016] degrees/s
(initialization: 0°)
invalid
Rotation speed of the steering-column.
Vitesse de rotation de la colonne de direction.
FLG_INIT_AVOL steering wheel angle
available
steering wheel angle not
available (initialization)
Availability of the readjusted angle of the steering-
column.
Disponibilité de l’angle recalé de la colonne de
direction.
FLG_AVOL_ICN steering wheel angle
accurate
steering wheel angle not
accurate (initialization)
Accuracy of the readjusted angle of the steering-
column.
Précision de l’angle recalé de la colonne de direction.
ANGLE_VOLANT_ORIGINE other indication about producer of steering wheel information
indication du producteur de l’information angle volant
CHKSUM_TRME_DYN_DAE DAE frame dynamic checksum
CPT_PROCESS_4B_DAE 4bits compute process counter for DAE
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 18/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
ANGLE_COLONNE [-1630;1630] degrees
invalid
Relative angle of the steering-column.
Angle relatif de la colonne de direction.
VITESSE_COLONNE [-1016;1016] degrees/s
invalid
Rotation speed of the steering-column.
Vitesse de rotation de la colonne de direction.
ETAT_DAE_CAV3_VIRTUEL
VIRTUAL_SWS3_EPS_STATE
000 : Initialization
(initialization)
001 : Offset initialization
request
010 : Offset search
authorization
011 : EPS works with the
ESC offset Offset used
100 : EPS works with
calibrated offset Reserved
101 : EPS works with self-
determined offset
Reserved
110 : Reserved
111 : Invalid
States of the readjusted steering-column angle
function on EPS side used to command the ESC part
of the function (initialization request, search
authorization…).
États de la fonction angle recalé de la colonne de
direction côté DAE utilisés pour piloter la partie ESP
de la fonction (demande d’initialisation, autorisation de
recherche…).
ETAT_SECU_ANGLE_COL not reliable (initialization)
reliable
Reliability of the steering-column angle.
Fiabilité de l’angle colonne de direction.
5.1.1.4.Données internes/ Internal data
Données internes paramétrables :
Configurable internal data:
Nom de la donnée/
Name of the data item
Mini / Maxi / Résolution
Valeur par défaut /
Min / Max / Resolution /
Default value
Description
ANGLE_AVAILABLE_THRESHOLD [10;30] degrees
resolution: 0.1
default value: 22.0
Threshold to consider the readjusted column angle
“available”.
Seuil pour considérer l’angle colonne recalé
“disponible”
ANGLE_ACCURATE_THRESHOLD [0;10] degrees
resolution: 0.1
default value: 5.0
Threshold to consider the readjusted column angle
“accurate”.
Seuil pour considérer l’angle colonne recalé “précis”
EFFECTIVE_OFFSET_ACCURACY_
CALIBRATION_VALUE
[0;10] degrees
resolution: 0.1
default value: 2.0
Value of accuracy of effective offset if the offset is
learned by calibration.
Valeur de précision d’offset effectif si l’offset est appris
par calibartion.
OFFSET_SELF_DETERMINATION_S
PEED_LOW_THRESHOLD
[0;10] km/h
resolution: 0.1
default value: 3.0
Low threshold speed to measure an offset by the sub-
function of self-determination.
Seuil bas de vitesse pour mesurer un offset par la
sous-fonction d’auto-détermination.
OFFSET_SELF_DETERMINATION_S
PEED_HIGH_THRESHOLD
[0;10] km/h
resolution: 0.1
default value: 5.0
High threshold speed to measure an offset by the sub-
function of self-determination.
Seuil haut de vitesse pour mesurer un offset par la
sous-fonction d’auto-détermination.
SELF_DETERMINATION_EFFECTIV
E_OFFSET_ACCURACY
[0;10] degrees
resolution: 0.1
default value: to be
defined by supplier
Value of accuracy of effective offset if the offset is
learned by EPS self determination.
Valeur de précision d’offset effectif si l’offset est appris
par auto-détermination de la DAE.
OFFSET_MEMORIZATION_VEHICLE
_SPEED_THRESHOLD
[0;10] km/h
resolution: 0.1
default value: 3.0
Vehicle speed threshold to take into account / to
memorize an offset.
Seuil de vitesse véhicule pour prendre en compte /
mémoriser un offset.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 19/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
OFFSET_MEMORIZATION_COLUMN
_ROTATION_SPEED_THRESHOLD
[0;6] degrees/s
resolution: 1
default value: 3
Column rotation speed threshold to take into account /
to memorize an offset.
Seuil de vitesse de rotation colonne pour prendre en
compte / mémoriser un offset.
OFFSET_MEMORIZATION_STEERIN
G_WHEEL_TORQUE_THRESHOLD
[0.1;1.0] N.m
resolution: 0.1
default value: 0.3
Steering Wheel torque threshold to take into account /
to memorize an offset.
Seuil de couple volant pour prendre en compte /
mémoriser un offset.
Données internes non spécifiantes :
Non specifying internal data:
Désignation des E/S /
Designation of the I/O
Valeurs /
Values
Description
RCA_FUNCTION_ACTIVATION
<not used yet>
deactivated
activated
State of the function Readjusted Column Angle
according to the variant coding of the EPS
Etat de la fonction Angle Colonne Recalé selon
le télécodage de la DAE.
RCA_FUNCTION_STATE ECU_Off
Sleep - measurement deactivated
Sleep - measurement activated
Produce RCA
Failure to produce RCA
State machine of the Readjusted Column Angle
function.
Machine d’état de la fonction Angle Colonne
Recalé.
RCA_FUNCTION_RUNNING on
off
State of the function Readjusted Column Angle
according to the vehicle life situation given by a
signal coming from BSI.
Etat de la fonction Angle Colonne Recalé selon
la phase de vie véhicule donnée par un signal
venant du BSI
RCA_MEMORIZATION_HABILITATIO
N_STATE
deactivated
activated (initialization)
State of the memorization habilitation of the
function Readjusted Column Angle.
Deactivated: bolt to ensure that ESC took into
account an EPS fault.
Etat de l’autorisation de mémorisation de la
fonction Angle Colonne Recalé. Désactivé :
verrou pour assurer que ESP a pris en compte
un défaut DAE.
CA_SENSOR_FAULT present
absent (initialization)
Indicates the presence or not of failure that
prevents the EPS to measure the rotation of the
steering column or to produce a reliable angle
of rotation of the column.
Indique la présence ou non de défaillance qui
empêche la DAE de mesurer la rotation de la
colonne de direction ou de produire un angle de
rotation de la colonne de direction fiable.
RCA_EPS_EXTERNAL_INPUTS_FAU
LT
absent (initialization)
present
Indicates the presence or not of faults of the
inputs of the function Readjusted Column
Angle.
Indique la présence ou non de défauts des
entrées de la fonction Angle Colonne Recalé.
EFFECTIVE_OFFSET [-1630;1630] degrees
unknown (initialization)
Offset used by the function to calculate and
emit the readjusted column angle.
Offset utilisé par la fonction pour calculer et
émettre l’angle colonne recalé
EFFECTIVE_OFFSET_ACCURACY [0;63] degrees
unknown (initialization)
Accuracy of the offset considered by the
function and associated with the readjusted
column angle emitted.
Précision d’offset considérée par la fonction et
associéé à l’angle colonne recalé émis.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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OFFSET_SELF_DETERMINATION
_STATE
deactivated (initialization)
activated
State of the sub-function of self-determination
of the offset.
Etat de la sous-fonction d’auto-détermination de
l’offset.
SELF_DETERMINATION_EFFECTIVE
_OFFSET
[-1630;1630] degrees
unknown (initialization)
Offset measured by the sub-function of self-
determination of the offset.
Offset mesuré par la sous-fonction d’auto-
détermination de l’offset.
ESC_OFFSET_DATA_ARE_VALI
D
true
false (initialization)
Indicates the data related to offset coming from
ESC are valid since a given duration.
Indique que les données relatives à l’offset
venant de l’ESP sont valides depuis une durée
donnée.
MEASUREMENT_INTERRUPTED
_ASLEEP
true
false (initialization)
Indicates there has been a loss of reference of
measurement of the column angle during
asleep phase. Is used to register a Diagnostic
Trouble Code.
Indique qu’il y a eu une perte de référence de la
mesure de l’angle colonne pendant la phase
endormie. Est utilisé pour enregistrer un code
d'anomalie de diagnostic (DTC).
ESC_AND_EPS_OFFSET_INCON
SISTENT_DETECTION
true
false (initialization)
Indicates there is an offset provided by ESC
inconsistent with the one known by EPS.
Indique qu’il y a un offset fourni par l’ESP
incohérent de celui connu par la DAE.
ESC_AND_EPS_OFFSET_INCON
SISTENT
true
false (initialization)
Indicates there has been an offset provided by
ESC inconsistent with the one known by EPS.
Is used to register a Diagnostic Trouble Code.
Indique qu’il y a eu un offset fourni par l’ESP
incohérent de celui connu par la DAE. Est
utilisé pour enregistrer un code d'anomalie de
diagnostic (DTC).
5.1.1.5.Exigences applicatives/ Application requirements
Identifiant
d’exigence /
requirement
identification
Libellé de l’exigence / Description of the requirement Exigence
amont /
Input
requirement
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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Incapacity/capacity to produce column angle
GEN-EPS-
TS-RCA.
0010 (1.0)
IF
a failure that prevents the EPS to measure the rotation of the steering
column or to produce a reliable angle of rotation of the column is confirmed
THEN
CA_SENSOR_FAULT = “present”
IF
every fault that prevents the EPS to measure the rotation of the steering
column or to produce a reliable angle of rotation of the steering column is
absent
AND no failure that prevents the EPS to measure the rotation of the steering
column or to produce a reliable angle of rotation of the steering column is
confirmed
THEN
CA_SENSOR_FAULT = “absent”
Comment: The failure is the physical phenomenon, the fault is the logical state. The
fault should not necessarily be confirmed to declare incapcity.
Every failure has to be considered, whatever its root cause: voltage out of range,
reset, component failure…
Check of the inputs
Initialization
GEN-EPS-
TS-RCA.
0011 (1.0)
The initialization value of RCA_EPS_EXTERNAL_INPUTS_FAULT is “absent”
With initialization = transition from ECU STATE “Sleep” to “Init” Cf [R/E]
Comment: ECU_STATE:
Sleep = power supply, +APC = OFF
Init = power supply, +APC = ON
Diagnostic “OFFSET and PRECISION_OFFSET inconsistent”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0012 (1.1)
ECU STATE is “Running” cf [R/E]
AND UCDIRA_FENETRE_DIAG_UCFREIN_1 = 1 cf [CAN]
IF
(OFFSET STEER_ANGLE_OFFSET is “invalid” AND PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR is a valid value) FOR 3 periods of the
signals
OR (OFFSET STEER_ANGLE_OFFSET is a valid value AND
PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is “invalid”) FOR 3
periods of the signals
THEN
The fault “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR inconsistent” is confirmed
IF
(OFFSET STEER_ANGLE_OFFSET is “invalid” AND PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR is “invalid”) FOR 10 periods of the signals
OR (OFFSET STEER_ANGLE_OFFSET is a valid value AND
PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is a valid value OR is
“unavailable”) FOR 10 periods of the signals
THEN
The fault “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR inconsistent” is recovered
Comment: UCDIRA_FENETRE_DIAG_UCFREIN_1 is the diagnostic window of the
signals coming from the Brake ECU (UCFREIN).
Check of the network input flows
GEN-EPS-
TS-RCA.
0013 (2.0)
IF
STEER_ANGLE_OFFSET value is confirmed “invalid” cf [CAN]
OFFSET STEER_ANGLE_OFFSET value is confirmed “out of range” cf [CAN]
OR PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR value is confirmed
“invalid” cf [CAN]
OR VITESSE_VEHICULE_ROUE value is confirmed “invalid” cf [CAN]
OR frame containing OFFSET STEER_ANGLE_OFFSET has a confirmed
failure: missing or too short cf [CAN].
OR frame containing PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR
has a confirmed failure: missing or too short cf [CAN].
OR frame containing VITESSE_VEHICULE_ROUE has a confirmed failure:
missing or too short cf [CAN].
OR CHKSUM_TRME_DYN_UCF is confirmed erroneous cf [CHK/CPT] and
[CAN]
OR CPT_PROCESS_4B_UCF is confirmed freezed cf [CHK/CPT] and [CAN]
OR “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR inconsistent” is confirmed
THEN
RCA_EPS_EXTERNAL_INPUTS_FAULT = “present”
ELSE
RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent”
Activation / deactivation of the RCA function in order not to
consume current
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0014 (2.0)
ECU STATE is “Comlatch” cf [R/E]
IF last received value of CONFIG_VHL = “Storage / Transport” OR “Show room”
THEN
RCA_FUNCTION_RUNNING = “Off”
ELSE
RCA_FUNCTION_RUNNING = “On”
Comment: CONFIG_VHL can take the values: Fitting, Plant, Check, Storage /
Transport, Client, After-Sale, Show room, Invalid (Montage, Usine, Contrôle,
Sockage / Transport, Client, APV, Show room, invalide)
State machine RCA_FUNCTION_STATE
Any
state
ECU_Off
Sleep - measurement
deactivated
Sleep - measurement
activated
Produce RCA
ECU_STATE =
“Running”
AND
CA_SENSOR_
FAULT = “absent”
ECU_STATE =
“Sleep”
AND
RCA_FUNCTION
_RUNNING = “On”
RCA initialization
ECU_STATE =
“Running”
AND
CA_SENSOR_
FAULT = “absent”
Failure to
produce RCA
ECU_STATE <> “Sleep”
AND
CA_SENSOR_FAULT =
“Absent”
ECU_STATE <> “Sleep”
AND
CA_SENSOR_FAULT =
“Present”
ECU_STATE = “Sleep”
ECU_STATE = “Running”
AND
CA_SENSOR_FAULT = “present”
Power supply sufficient to
monitor Column Angle
Power supply too low to
monitor Column Angle
ECU_STATE =
“Sleep”
AND
RCA_FUNCTION
_RUNNING = “Off”
ECU_STATE = “Running”
AND
CA_SENSOR_FAULT = “present”
any state to “ECU_Off”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0015 (1.0)
Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated” OR
“Sleep - measurement activated” OR “Produce RCA” OR “Failure to produce RCA”
IF
EPS power supply is too low to monitor the rotation of the steering column
THEN
RCA_FUNCTION_STATE = “ECU_Off”
“ECU_Off” to “Sleep - measurement deactivated”
GEN-EPS-
TS-RCA.
0016 (1.0)
Start state: RCA_FUNCTION_STATE = “ECU_Off “
IF
EPS power supply is high enough to monitor the rotation of the steering
column
THEN
RCA_FUNCTION_STATE = “Sleep - measurement deactivated”
“Sleep - measurement deactivated” to “Produce RCA”
GEN-EPS-
TS-RCA.
0017 (1.0)
Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated”
IF
ECU STATE = “Running” cf [R/E]
AND CA_SENSOR_FAULT = “absent”
THEN
RCA_FUNCTION_STATE = “Produce RCA”
Comment: ECU STATE:
Running = power supply, +APC = ON, ECU initialized, frames emission
“Sleep - measurement deactivated” to “Failure to produce RCA”
GEN-EPS-
TS-RCA.
0018 (1.0)
Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated”
IF
ECU STATE = “Running” cf [R/E]
AND CA_SENSOR_FAULT = “present”
THEN
RCA_FUNCTION_STATE = “Failure to produce RCA”
Comment: ECU STATE:
Running = power supply, +APC = ON, ECU initialized, frames emission
“Produce RCA” to “Sleep - measurement deactivated”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0019 (1.0)
Start state: RCA_FUNCTION_STATE = “Produce RCA”
IF
ECU STATE = “Sleep” cf [R/E]
AND RCA_FUNCTION_RUNNING = “Off”
THEN
RCA_FUNCTION_STATE = “Sleep - measurement deactivated”
ECU STATE:
Sleep = power supply, +APC = OFF
“Produce RCA” to “Sleep - measurement activated”
GEN-EPS-
TS-RCA.
0020 (1.0)
Start state: RCA_FUNCTION_STATE = “Produce RCA”
IF
ECU STATE = “Sleep” cf [R/E]
AND RCA_FUNCTION_RUNNING = “On”
THEN
RCA_FUNCTION_STATE = “Sleep - measurement activated”
Comment: ECU STATE:
Sleep = power supply, +APC = OFF
“Produce RCA” to “Failure to produce RCA”
GEN-EPS-
TS-RCA.
0021 (1.0)
Start state: RCA_FUNCTION_STATE = “Produce RCA”
IF
ECU STATE <> “Sleep” cf [R/E]
AND CA_SENSOR_FAULT = “present”
THEN
RCA_FUNCTION_STATE = “Failure to produce RCA”
Comment: ECU STATE:
Sleep = power supply, +APC = OFF
“Failure to produce RCA” to “Produce RCA”
GEN-EPS-
TS-RCA.
0022 (1.0)
Start state: RCA_FUNCTION_STATE = “Failure to produce RCA”
IF
ECU STATE <> “Sleep” cf [R/E]
AND CA_SENSOR_FAULT = “absent”
THEN
RCA_FUNCTION_STATE = “Produce RCA”
Comment: ECU STATE:
Sleep = power supply, +APC = OFF
“Failure to produce RCA” to “Sleep - measurement deactivated”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0023 (1.0)
Start state: RCA_FUNCTION_STATE = “Failure to produce RCA”
IF
ECU STATE = “Sleep” cf [R/E]
THEN
RCA_FUNCTION_STATE = “Sleep - measurement deactivated”
Comment: ECU STATE:
Sleep = power supply, +APC = OFF
“Sleep - measurement activated” to “Produce RCA”
GEN-EPS-
TS-RCA.
0024 (1.0)
Start state: RCA_FUNCTION_STATE = “Sleep - measurement activated”
IF
ECU STATE = “Running” cf [R/E]
AND CA_SENSOR_FAULT = “absent”
THEN
RCA_FUNCTION_STATE = “Produce RCA”
Comment: ECU STATE:
Running = power supply, +APC = ON, ECU initialized, frames emission
“Sleep - measurement activated” to “Failure to produce RCA”
GEN-EPS-
TS-RCA.
0025 (1.0)
Start state: RCA_FUNCTION_STATE = “Sleep - measurement activated”
IF
ECU STATE = “Running” cf [R/E]
AND CA_SENSOR_FAULT = “present”
THEN
RCA_FUNCTION_STATE = “Failure to produce RCA”
Comment: ECU STATE:
Running = power supply, +APC = ON, ECU initialized, frames emission
Sleep - measurement deactivated
GEN-EPS-
TS-RCA.
0027 (1.0)
RCA_FUNCTION_STATE is “Sleep - measurement deactivated”
The EPS does not measure the rotation of the steering column and does not
produce an angle of rotation of the column
Sleep - measurement activated
GEN-EPS-
TS-RCA.
0028 (1.0)
RCA_FUNCTION_STATE is “Sleep - measurement activated”
ANGLE_COLONNE = measured value
Comment: The measurement is since the first measurement after last interruption.
Fault log: Loss of reference of measurement while asleep
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0060 (1.0)
IF
RCA_FUNCTION_STATE is “Sleep - measurement deactivated”
THEN
MEASUREMENT_INTERRUPTED_ASLEEP = “true”
IF
RCA_FUNCTION_STATE is “Sleep - measurement activated”
THEN
MEASUREMENT_INTERRUPTED_ASLEEP = “false”
Failure to produce RCA
GEN-EPS-
TS-RCA.
0029 (3.0)
RCA_FUNCTION_STATE is “Failure to produce RCA”
ANGLE_COLONNE = “invalid”
ETAT_SECU_ANGLE_COL = “not reliable”
ETAT_DAE_CAV3_VIRTUEL = “invalid”
ANGLE_VOLANT = “invalid”
FLG_INIT_AVOL = “steering wheel angle not available”
FLG_AVOL_ICN = “steering wheel angle not accurate”
CALIBRATION_VOL = “Sensor not calibrated”
EFFECTIVE_OFFSET = “unknown”
EFFECTIVE_OFFSET_ACCURACY = “unknown”
Produce RCA
Produce relative angle of the steering-column
GEN-EPS-
TS-RCA.
0031 (2.0)
RCA_FUNCTION_STATE is “Produce RCA”
ANGLE_COLONNE = measured value
ETAT_SECU_ANGLE_COL = “reliable”
Comment: The measurement is since the first measurement after last interruption.
RCA initialization
GEN-EPS-
TS-RCA.
0054 (2.0)
IF
transition from RCA_FUNCTION_STATE = “Sleep - measurement
deactivated” to “Produce RCA”
OR transition from RCA_FUNCTION_STATE = “Failure to produce RCA”to
“Produce RCA”
THEN
ETAT_DAE_CAV3_VIRTUEL = “offset initialization request”
RCA_MEMORIZATION_HABILITATION_STATE = “deactivated”
EFFECTIVE_OFFSET = “unknown”
EFFECTIVE_OFFSET_ACCURACY = “unknown”
Comment: Measured value of ANGLE_COLONNE at that moment is the first
measured value, so it can be set to 0°, but it is not necessary.
Lock of the function until ESC acknowledged an interruption
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0055 (1.1)
RCA_FUNCTION_STATE is “Produce RCA”
IF
ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “offset
initialization request”
AND ACQ_INTERRUPT_DAE VIRTUAL_SWS3_ESP_ACK = “acknowledge”
THEN
RCA_MEMORIZATION_HABILITATION_STATE = “activated”
ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “offset search
authorization”
Comment:
When ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE has the value “offset
initialization request”, ESC stops its part of the function and sends
ACQ_INTERRUPT_DAE VIRTUAL_SWS3_ESP_ACK to the value “acknowledge”.
The function Readjusted Column Angle is locked in case EPS cannot provide column
angle and until ESC has taken into account the defect.
ESC sends OFFSET STEER_ANGLE_OFFSET at the value “invalid” when it cannot
produce it because of a defect or when it has not found the offset.
filtering of information of offset
GEN-EPS-
TS-RCA.
0059 (2.0)
RCA_FUNCTION_STATE is “Produce RCA”
IF
PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is a valid received the
same valid value since 3 2 consecutives times
AND OFFSET STEER_ANGLE_OFFSET is a valid received the same valid
value since 3 2 consecutives times
THEN
ESC_OFFSET_DATA_ARE_VALID = “true”
ELSE
ESC_OFFSET_DATA_ARE_VALID = “false”
A "valid received value" mentioned in this requirement designates a received value
with no failure: neither a frame failure, nor a signal failure associated to this signal.
Fault log: offset known by EPS inconsistent with the one provided by ESC
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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GEN-EPS-
TS-RCA.
0061 (1.0)
RCA_FUNCTION_STATE is “Produce RCA”
AND RCA_MEMORIZATION_HABILITATION_STATE = “activated”
AND RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent”
IF
(ESC_OFFSET_DATA_ARE_VALID = “true”
AND
the range of possible values of STEER_ANGLE_OFFSET considering
STEER_ANGLE_OFFSET_ACCUR is separated of the range of possibles
values of EFFECTIVE_OFFSET considering
EFFECTIVE_OFFSET_ACCURACY)
THEN
ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “true”
ESC_AND_EPS_OFFSET_INCONSISTENT = “true”
IF
(ESC_OFFSET_DATA_ARE_VALID = “true”
AND
ESC_AND_EPS_OFFSET_INCONSISTENT = “true”
AND
EFFECTIVE_OFFSET = STEER_ANGLE_OFFSET
AND
EFFECTIVE_OFFSET_ACCURACY = STEER_ANGLE_OFFSET_ACCUR)
THEN
ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “false”
IF
(ESC_OFFSET_DATA_ARE_VALID = “true”
AND
the range of possible values of STEER_ANGLE_OFFSET considering
STEER_ANGLE_OFFSET_ACCUR is NOT separated of the range of
possibles values of EFFECTIVE_OFFSET considering
EFFECTIVE_OFFSET_ACCURACY
AND
EFFECTIVE_OFFSET_ACCURACY < STEER_ANGLE_OFFSET_ACCUR)
THEN
ESC_AND_EPS_OFFSET_INCONSISTENT = “false”
Comment:
If the offset known by EPS is inconsistent with the one provided by ESC a fault is
logged, it is rehabilated after the ESC offset has been taken into account and when
the offset the offset provided is more accurate.
taking into account of the offset
GEN-EPS-
TS-RCA.
0033 (4.0)
RCA_FUNCTION_STATE is “Produce RCA”
AND RCA_MEMORIZATION_HABILITATION_STATE = “activated”
AND RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent”
IF
ESC_OFFSET_DATA_ARE_VALID = “true”
AND
[ EFFECTIVE_OFFSET = “unknown” ]
OR
[ FLG_AVOL_ICN = “steering wheel angle not accurate” ]
OR
[ ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION =
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
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“false”
AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR =<
EFFECTIVE_OFFSET_ACCURACY
AND
VITESSE_VEHICULE_ROUE is a valid received value
AND VITESSE_VEHICULE_ROUE <
OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHO
LD (typically 3 km/h)
AND VITESSE_COLONNE <
OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED
_THRESHOLD (typically 3°/s)
AND CPLE_VOLANT_OPTMSE <
OFFSET_MEMORIZATION_STEERING_WHEEL_TORQU
E_THRESHOLD (typically 0.3 N.m) ]
OR
[ ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “true”
AND
VITESSE_VEHICULE_ROUE is a valid received value
AND VITESSE_VEHICULE_ROUE <
OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHO
LD (typically 3 km/h)
AND VITESSE_COLONNE <
OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED
_THRESHOLD (typically 3°/s)
AND CPLE_VOLANT_OPTMSE <
OFFSET_MEMORIZATION_STEERING_WHEEL_TORQU
E_THRESHOLD (typically 0.3 N.m) ]
THEN
EFFECTIVE_OFFSET = OFFSET STEER_ANGLE_OFFSET
EFFECTIVE_OFFSET_ACCURACY = PRECISION_OFFSET
STEER_ANGLE_OFFSET_ACCUR
ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “EPS works
with the ESC offset” “Offset used”
Comment:
If no offset is known by EPS, EPS takes into account offset provided by ESC as soon
as it is available.
If the offset known by EPS is not accurate enough to qualify the readjusted column
angle accurate EPS, takes into account offset provided by ESC as soon as it is
available.
If an offset is already known by EPS, EPS takes into account offset provided by ESC
if it is at least as accurate and under suitable conditions.
If the offset known by EPS is inconsistent with the one provided by ESC, EPS takes
into account offset provided by ESC under suitable conditions.
According to [CAN], in case of an input failure detected but not confirmed, the
internal variable keeps the last valid received value.
A "valid received value" designates a received value with no failure: neither a frame
failure, nor a signal failure associated to this signal.
Set of the outputs “readjusted column angle” and flags
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 31/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0038 (4.0)
RCA_FUNCTION_STATE is “Produce RCA”
IF EFFECTIVE_OFFSET <> “unknown”
THEN
ANGLE_VOLANT = ANGLE_COLONNE + EFFECTIVE_OFFSET
ELSE
ANGLE_VOLANT = ANGLE_COLONNE
IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD
THEN
FLG_INIT_AVOL = “steering wheel angle available”
ELSE
FLG_INIT_AVOL = “steering wheel angle not available”
IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD
THEN
FLG_AVOL_ICN = “steering wheel angle accurate”
CALIBRATION_VOL = “Sensor calibrated”
ELSE
FLG_AVOL_ICN = “steering wheel angle not accurate”
CALIBRATION_VOL = “Sensor not calibrated”
Set of the outputs related to “column angle”
Checksum and Process Counter
GEN-EPS-
TS-RCA.
0056 (2.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_COLONNE is not corrupted
ETAT_DAE_CAV3_VIRTUEL is not corrupted
AND ETAT_SECU_ANGLE_COL is not corrupted
THEN
CHKSUM_TRME_DYN_DAE takes its correct value cf is computed
according to [CHK/CPT] and [CAN]
ELSE
CHKSUM_TRME_DYN_DAE takes a value different of the correct one cf
[CHK/CPT] and [CAN]
GEN-EPS-
TS-RCA.
0057 (2.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_COLONNE has been nominally refreshed
ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE has been nominally
refreshed
AND ETAT_SECU_ANGLE_COL has been nominally refreshed
THEN
CPT_PROCESS_4B_DAE is incremented cf is computed according to
[CHK/CPT] and [CAN]
ELSE
CPT_PROCESS_4B_DAE keeps its value
Definitions of directions and signs
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 32/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0036 (1.0)
IF the steering column, seen from the steering-wheel, turns in trigonometric direction
THEN
ANGLE_COLONNE increases
VITESSE_COLONNE = “positive”
ANGLE_VOLANT increases
SENS_ROT_VOL = “positive”
GEN-EPS-
TS-RCA.
0037 (1.0)
IF the steering column, seen from the steering-wheel, turns in ante-trigonometric
direction
THEN
ANGLE_COLONNE decreases
VITESSE_COLONNE = “negative”
ANGLE_VOLANT decreases
SENS_ROT_VOL = “negative”
Set of the outputs related to “readjusted column angle”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 33/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
Checksum and Process Counter
GEN-EPS-
TS-RCA.
0039 (2.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_VOLANT is not corrupted
THEN
CHKSUM_VOL takes its correct value cf is computed according to
[CHK/CPT] and [CAN]
ELSE
CHKSUM_VOL takes a value different of the correct one cf [CHK/CPT] and
[CAN]
GEN-EPS-
TS-RCA.
0040 (2.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_VOLANT has been nominally refreshed
THEN
CPT_PROCESS_4B_A_VOL is incremented cf is computed according to
[CHK/CPT] and [CAN]
ELSE
CPT_PROCESS_4B_A_VOL keeps its value
Offset calibrated through external request (following wheels
parallelism adjustment)
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 34/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0041 (2.0)
RCA_FUNCTION_STATE is “Produce RCA”
IF
(VITESSE_VEHICULE_ROUE =< VEH_SPD_INIT cf [CAN]
OR VITESSE_VEHICULE_ROUE = “invalid”)
AND
DATA1_VOL = 0101b
AND CCW1_VOL_1 = 0011b
AND CCW2_VOL = 0b
AND DATA2_VOL = 0110000b
THEN
EFFECTIVE_OFFSET = - ANGLE_COLONNE
EFFECTIVE_OFFSET_ACCURACY = EFFECTIVE_OFFSET_ACCURACY_
CALIBRATION_VALUE (typically 2°)
CALIBRATION_VOL = “Sensor calibrated”
ETAT_DAE_CAV3_VIRTUEL = “EPS works with calibrated offset”
RCA_MEMORIZATION_HABILITATION_STATE = “deactivated”
IF
DATA1_VOL = 0101b
AND CCW1_VOL_1 = 0101b
AND CCW2_VOL = 0b
AND DATA2_VOL = 0110000b
THEN
EFFECTIVE_OFFSET = “unknown”
EFFECTIVE_OFFSET_ACCURACY = “unknown”
CALIBRATION_VOL = “Sensor not calibrated”
ETAT_DAE_CAV3_VIRTUEL = “offset initialization request”
RCA_MEMORIZATION_HABILITATION_STATE = “deactivated”
Comment: When the calibration request is received, EFFECTIVE_OFFSET takes the
opposite value of the column angle measured at that time.
Offset determination by EPS thanks to a steering wheel operation
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 35/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0058 (1.0)
The EPS implements a process of determination of the column angle which
corresponds to the center of the rack.
This self-detrmination process uses a travel of the rack, realized by action on the
steering wheel, during which the ECU writes the column angles corresponding to
characteristic points of the rack position (lock, cam…).
The column angles corresponding to characteristic positions and mechanical data of
the steering are then used by the ECU to, compute if needed and, write the column
angle value corresponding to the rack center.
The column angle value corresponding to the rack center is assigned to the auto-
determinated offset.
Comment: Rack center is assimilated to the straight line center.
GEN-EPS-
TS-RCA.
0042 (2.0)
RCA_FUNCTION_STATE is “Produce RCA”
IF
EFFECTIVE_OFFSET = “unknown”
AND ASSISTANCE_MODE = ON Cf ST [D/A]
AND VITESSE_VEHICULE_ROUE is a valid received value
AND VITESSE_VEHICULE_ROUE <
OFFSET_SELF_DETERMINATION_SPEED_LOW_THRESHOLD
(typically 3 km/h)
THEN
OFFSET_SELF_DETERMINATION _STATE = “activated”
IF
EFFECTIVE_OFFSET = “known”
OR VITESSE_VEHICULE_ROUE is not a valid received value
OR VITESSE_VEHICULE_ROUE >
OFFSET_SELF_DETERMINATION_SPEED_HIGH_THRESHOLD
(typically 5 km/h)
THEN
OFFSET_SELF_DETERMINATION _STATE = “deactivated”
A "valid received value" designates a received value with no failure: neither a frame
failure, nor a signal failure associated to this signal.
GEN-EPS-
TS-RCA.
0043 (1.0)
RCA_FUNCTION_STATE is “Produce RCA”
AND OFFSET_SELF_DETERMINATION _STATE = “activated”
EPS monitors that the operation of self-determination of the offset occurs, if the
operation occurs and is achieved, then
SELF_DETERMINATION_EFFECTIVE_OFFSET takes the value of the offset
determined by the operation.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 36/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0044 (2.0)
RCA_FUNCTION_STATE is “Produce RCA”
AND OFFSET_SELF_DETERMINATION _STATE = “activated”
AND SELF_DETERMINATION_EFFECTIVE_OFFSET <> “unknown”
IF
VITESSE_VEHICULE_ROUE is a valid received value
AND VITESSE_VEHICULE_ROUE <
OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHOLD (typically
3 km/h)
AND VITESSE_COLONNE <
OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED_THRESHOLD
(typically 3°/s)
AND CPLE_VOLANT_OPTMSE <
OFFSET_MEMORIZATION_STEERING_WHEEL_TORQUE_THRESHOLD
(typically 0.3 N.m)
THEN
EFFECTIVE_OFFSET = SELF_DETERMINATION_EFFECTIVE_OFFSET
EFFECTIVE_OFFSET_ACCURACY =
SELF_DETERMINATION_EFFECTIVE_OFFSET_ACCURACY
A "valid received value" designates a received value with no failure: neither a frame
failure, nor a signal failure associated to this signal.
GEN-EPS-
TS-RCA.
0045 (1.0)
RCA_FUNCTION_STATE is “Produce RCA”
IF
EFFECTIVE_OFFSET <> “unknown”
THEN
SELF_DETERMINATION_EFFECTIVE_OFFSET = “unknown”
5.1.1.6.Protocoles de sortie/ Outputs Protocols
Identifiant
d’exigence /
requirement
identification
Libellé de l’exigence / Description of the requirement Exigence
amont /
Input
requirement
GEN-EPS-
TS-RCA.
0046 (1.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_COLONNE = measured value
THEN
VITESSE_ROT_VOL = computed value
SENS_ROT_VOL = computed value
VITESSE_ROT_VOL_OPTIMISE = computed value
ELSE
VITESSE_ROT_VOL = “invalide”
SENS_ROT_VOL = “positive”
VITESSE_ROT_VOL_OPTIMISE = “invalide”
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 37/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
GEN-EPS-
TS-RCA.
0047 (3.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
IF
ANGLE_COLONNE = “invalid”
THEN
ETAT_CAPT_VOL = “faulty”
ELSE
ETAT_CAPT_VOL = “operational”
GEN-EPS-
TS-RCA.
0048 (2.0)
ECU STATE is “Running” OR “Comlatch” cf [R/E]
CODE_DEFAUT_VOL = “no fault”
TRIM_VOL = “trimmed”
ANGLE_VOLANT_ORIGINE = “other”
CALIBRATION_VOL = “Sensor calibrated”
5.1.2.CAS D’UTILISATION 2/ USE CASE 2
<vide>
<empty>
5.2.EXIGENCES DE PERFORMANCE/ PERFORMANCE REQUIREMENTS
Identifiant
d’exigence /
requirement
identification
Libellé de l’exigence / Description of the requirement Exigence
amont /
Input
requirement
GEN-EPS-
TS-RCA.
0050 (1.0)
The maximum error between the relative column angle (ANGLE_COLONNE) emitted
on the network and the angle of the column at the level of the pinion is +/- 2.0°.
GEN-EPS-
TS-RCA.
0051 (1.0)
The maximum error of hysteresis between the relative column angle
(ANGLE_COLONNE) emitted on the network and the angle of the column at the level
of the pinion is +/- 1.5°.
GEN-EPS-
TS-RCA.
0052 (2.0)
The maximum error of nonlinearity at 3 Sigma between the relative column angle
(ANGLE_COLONNE) emitted on the network and the angle of the column at the level of the
pinion is +/- 2.5°.
GEN-EPS-
TS-RCA.
0053 (1.0)
The maximum time between the position of the relative column angle and the
emission on the network of the related readjusted column angle (ANGLE_VOLANT)
is 15 ms.
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 38/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.3.EXIGENCES D’INTERFACES EXTERNES/ EXTERNAL INTERFACES REQUIREMENTS
5.3.1.INTERFACES RESEAUX/ NETWORK INTERFACES
5.3.1.1.Diagramme de contexte / Contextual diagram
EPS
ESC
CALIBRATION
_VOL
Additionner angle colonne
relatif et offset
/ Add relative column angle
and offset
Estimer l’Offset / Estimate Offset
Fournir angle
colonne relatif /
Provide relative
column angle
Demander la calibration /
Ask for calibration
VITESSE_
VEHICULE
_ROUES
CHKSUM_TRME_DYN_UCF
CPT_PROCESS_4B_UCF
OFFSET
PRECISION_OFFSET
ACQ_INTERRUPT_DAE
CHKSUM_TRME_DYN_UCF
CPT_PROCESS_4B_UCF
OFFSET
PRECISION_OFFSET
ACQ_INTERRUPT_DAE
ANGLE_VOLANT
VITESSE_ROT_VOL
SENS_ROT_VOL
CODE_DEFAUT_VOL
TRIM_VOL
CALIBRATION_VOL
ETAT_CAPT_VOL
CHKSUM_VOL
CPT_PROCESS_4B_A_VOL
VITESSE_ROT_VOL_OPTIMISE
FLG_INIT_AVOL
FLG_AVOL_ICN
ANGLE_VOLANT_ORIGINE
CHKSUM_TRME_DYN_DAE
CPT_PROCESS_4B_DAE
ANGLE_COLONNE
ETAT_DAE_CAV3_VIRTUEL
ETAT_SECU_ANGLE_COL
BSI
Calibrer offset /
Calibrate offset
CONFIG_VHL
5.3.1.2.Réception et envoi des trames / Réception and sending frames
N°
Exigence(v)
/Requirement
no. (v)
Libellé de l’exigence/Description of the requirement Exigence
amont(v)/Inpu
t requirement
(v)
GEN-EPS-
TS-RCA.
0100 (1.0)
Les trames consommées et produites par le système sont décrites de manière
exhaustive dans la ST Messagerie de l’organe [CAN].
Le système applique les exigences réseau des ST CAN spécifiées par le CDC
logiciel.
The frames consumed and produced by the system are described exhaustively in
the component's Messaging ST [CAN].
The system applies the requirements network of TS CAN specified by the TS
software.
5.3.1.3.Interprétation des données « réseau » / Interpretation of "network" data
Cf [CAN]
Cf [CAN]
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 39/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.3.2.INTERFACES ELECTRIQUES/ ELECTRICAL INTERFACES
Non applicable
Not applicable
5.3.3.INTERFACES MECANIQUES/ MECHANICAL INTERFACES
Non applicable
Not applicable
5.3.4.INTERFACES HOMME-MACHINE/ MAN-MACHINE INTERFACES
Non applicable
Not applicable
5.3.5.AUTRES INTERFACES PHYSIQUES/ OTHER PHYSICAL INTERFACES
Non applicable
Not applicable
Partie DAE - fonction produire l’angle colonne
recalé avec un offset estimé et mémorisé
EPS part - function produce the readjusted column
angle with an estimated and memorized offset
REFERENCE IND PROJET/ PROJECT PAGE
01552_15_07461 3.0 generic 40/40
CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION
THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION
5.4.EXIGENCES OPERATIONNELLES/ OPERATIONAL REQUIREMENTS
Cf [EPS_TS]
Cf [EPS_TS]
5.5.EXIGENCES DE CONTRAINTE/ CONSTRAINT REQUIREMENTS
Cf [EPS_TS]
Cf [EPS_TS]
Identifiant
d’exigence /
requirement
identification
Libellé de l’exigence / Description of the requirement Exigence
amont /
Input
requirement
GEN-EPS-
TS-RCA.
0049 (1.0)
Each configurable internal data defined in § 5.1.1.4 can be modified by PSA through
the calibration file.
5.6.EXIGENCES D’INTEGRATION ET DE VALIDATION/ INTEGRATION AND VALIDATION
REQUIREMENTS
<vide>
<empty>
6.IDENTIFIANTS DES EXIGENCES SUPPRIMEES / IDENTIFIERS OF THE
REMOVED REQUIREMENTS
Identifiant d’exigence /
requirement identification
GEN-EPS-TS-RCA. 0026
GEN-EPS-TS-RCA. 0030
GEN-EPS-TS-RCA. 0032
GEN-EPS-TS-RCA. 0034
GEN-EPS-TS-RCA. 0035
GEN-EPS-TS-RCA. 0041
GEN-EPS-TS-RCA. 0058
GEN-EPS-TS-RCA. 0042
GEN-EPS-TS-RCA. 0043
GEN-EPS-TS-RCA. 0044
GEN-EPS-TS-RCA. 0045

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TS_Produce_RCA_with_estimated_and_memorized_offset_CAV3_virtual_EPS_part.doc

  • 1. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 1/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION Référence / Reference : 01552_15_07461 DIRECTION RECHERCHE ET DEVELOPPEMENT DIRECTION DES SYSTEMES ELECTRICITE ET ELECTRONIQUE DIVISION of RESEARCH AND DEVELOPMENT DIVISION of ELECTRIC ELECTRONIC SYSTEMS ST DE LA PARTIE DAE DE LA FONCTION PRODUIRE L’ANGLE COLONNE RECALÉ AVEC UN OFFSET ESTIMÉ ET MÉMORISÉ (dite « CAV3-virtuel ») TS OF THE EPS PART OF THE FUNCTION PRODUCE THE READJUSTED COLUMN ANGLE WITH AN ESTIMATED AND MEMORIZED OFFSET (known as virtual-CAV3) Cette Spécification Technique (ST) est un document qui rassemble pour le système considéré les exigences techniques spécifiées et mises en cohérence de toutes les parties prenantes. Il exprime ce que doit faire le système, non comment il doit le faire. Ce document est bilingue. En cas de litige sur la traduction, le texte français fait foi. This Technical Specification (TS) is a document that groups the technical requirements for the given system, specified and made consistent by all the stakeholders. It states what the system should do, not how it should do it. In the event of litigation on the translation, the French text has probative force. Rédacteur/ Drafted by Vérificateur/ Checked by Approbateur/ Approved by Nom/ Name JF Maillard Nom/ Name: Nom/ Name: Entité/ Entity: DSEE/MCDV/E2TC/SDTC Entité/ Entity: Entité/ Entity: Date : 29/06/2017 Signature : Date : Signature : Date : Signature :
  • 2. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 2/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION Historique / History Version Date drafted by Nature of modifications 1.0 10/11/2015 JF Maillard Creation 2.0 11/12/2015 JF Maillard 2.2.1 The offset can also be gauged with 0°  The offset can also be gauged 5.5.1.6 GEN-EPS-TS-RCA. 0047 (2.0): If ANGLE_VOLANT is not “invalid” then ETAT_CAPT_VOL is “operational” (instead of “invalid”) 5.2 GEN-EPS-TS-RCA. 0050 (1.0) added: maximum error of the relative column angle is +/- 2.0° GEN-EPS-TS-RCA. 0051 (1.0) added: maximum error of hysteresis of the relative column angle is +/- 1.5°. GEN-EPS-TS-RCA. 0052 (1.0) added: maximum error of nonlinearity at 3 seconds of the relative column angle is +/- 2.5°. GEN-EPS-TS-RCA. 0053 (1.0) added: maximum delay of the readjusted column angle is 15 ms. 2.1 25/02/2016 JF Maillard 5.1.1.3 PRECISION_OFFSET – values: [0;63]  [0;61] degrees 5.1.1.5 GEN-EPS-TS-RCA. 0014 (2.0): CONFIG_VHL = “invalid” suppressed of the conditions to deactivate the function. Heading of GEN-EPS-TS-RCA. 0030 added: CPT = CPT + 1 Heading of GEN-EPS-TS-RCA. 0031 added: Produce relative angle of the steering-column Heading of GEN-EPS-TS-RCA. 0032 added: Lock of the function until ESC acknowledged an interruption Heading of GEN-EPS-TS-RCA. 0033 added: taking into account of the offset GEN-EPS-TS-RCA. 0030 (2.0): suppression of ETAT_SECU_ANGLE_COL = “reliable”; correction of FLG_INIT_AVOL into FLG_AVOL_ICN: FLG_INIT_AVOL = “steering wheel angle not available”  FLG_AVOL_ICN = “steering wheel angle not accurate” GEN-EPS-TS-RCA. 0032 (2.0): addition of ETAT_SECU_ANGLE_COL = “reliable” GEN-EPS-TS-RCA. 0038 (2.0): suppression of “absolute value”; correction of FLG_INIT_AVOL into FLG_AVOL_ICN; addition of CALIBRATION_VOL depending of the the readjusted column angle
  • 3. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 3/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION accurate availability: IF absolute value of EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD THEN FLG_INIT_AVOL = “steering wheel angle available” ELSE FLG_INIT_AVOL = “steering wheel angle not available” IF absolute value of EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD THEN FLG_INIT_AVOL = “steering wheel angle accurate” ELSE FLG_INIT_AVOL = “steering wheel angle not accurate” replaced by: IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD THEN FLG_INIT_AVOL = “steering wheel angle available” ELSE FLG_INIT_AVOL = “steering wheel angle not available” IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD THEN FLG_AVOL_ICN = “steering wheel angle accurate”, CALIBRATION_VOL = “Sensor calibrated” ELSE FLG_AVOL_ICN = “steering wheel angle not accurate”, CALIBRATION_VOL = “Sensor not calibrated” GEN-EPS-TS-RCA. 0047 (3.0): ANGLE_VOLANT = “invalid”  ANGLE_COLONNE = “invalid” to set ETAT_CAPT_VOL = “faulty”. 2.2 25/05/2016 JF Maillard 2.2.1 Offset self-determinated: [rotation of the steering column] “corresponding to characteristic points of the rack travel” added. “lock to lock” is an exemple. 5.1.1.3 PRECISION_OFFSET – values: [0;61]  [0;29] degrees ACQ_INTERRUPT_DAE added DATA1_VOL added CCW1_VOL_1 added CCW2_VO added DATA2_VOL added CPT_INTERRUPT_SURV replaced by ETAT_DAE_CAV3_VIRTUEL 5.1.1.5 State machine RCA_FUNCTION_STATE: “CPT = CPT+1” replaced by “RCA initialization” GEN-EPS-TS-RCA. 0026 (1.0) removed. Initialization of CPT_INTERRUPT_SURV GEN-EPS-TS-RCA. 0029 (2.0): addition of “ETAT_DAE_CAV3_VIRTUEL = “invalid”” when “Failure to produce RCA” GEN-EPS-TS-RCA. 0031 (2.0): addition of ETAT_SECU_ANGLE_COL = “reliable”” when “Produce RCA” GEN-EPS-TS-RCA. 0030 (2.0) and its heading “CPT = CPT + 1” replaced by GEN-EPS-TS-RCA. 0054 (1.0) and its heading “RCA initialization”: use of ETAT_DAE_CAV3_VIRTUEL instead of CPT_INTERRUPT_SURV to initialize the function. GEN-EPS-TS-RCA. 0032 (2.0) replaced by GEN-EPS-TS-RCA. 0055 (1.0): use of ETAT_DAE_CAV3_VIRTUEL, instead of CPT_INTERRUPT_SURV, and ACQ_INTERRUPT_DAE to
  • 4. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 4/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION lock the function. GEN-EPS-TS-RCA. 0033 (2.0) : to take into account the offset, addition of: - If no offset is known by EPS, ESP takes into account offset provided by ESC as soon as it is available. - If the offset known by EPS is inconsistent with the one provided by ESC, EPS takes into account offset provided by ESC under suitable conditions. Heading of GEN-EPS-TS-RCA. 0038 added: Set of the outputs “readjusted column angle” and flags GEN-EPS-TS-RCA. 0038 (3.0): “ECU STATE is “Init” OR “Running” OR “Comlatch” cf [R/E]” replaced by “RCA_FUNCTION_STATE is “Produce RCA”” GEN-EPS-TS-RCA. 0034 (1.0) replaced by GEN-EPS-TS-RCA. 0056 (1.0): use of ETAT_DAE_CAV3_VIRTUEL instead of CPT_INTERRUPT_SURV to compute Checksum GEN-EPS-TS-RCA. 0035 (1.0) replaced by GEN-EPS-TS-RCA. 0057 (1.0): use of ETAT_DAE_CAV3_VIRTUEL instead of CPT_INTERRUPT_SURV to compute Process Counter Heading of GEN-EPS-TS-RCA. 0041: “Offset calibrated through external request” replaces “Offset calibrated through diagnostic service” GEN-EPS-TS-RCA. 0041 (2.0): for calibration and decalibration: - Diagnostic service removed, - Condition on vehicle speed added, - Calibration data (DATA1_VOL, CCW1_VOL_1, CCW2_VOL, DATA2_VOL ) added - Management of ETAT_DAE_CAV3_VIRTUEL added - RCA_MEMORIZATION_HABILITATION_STATE = “deactivated” added GEN-EPS-TS-RCA. 0058 (1.0) added. The EPS implements a process of self-determination of the Rack center assimilated to the straight line center (giving an offset). 5.3.1.1 Diagram “network interfaces” up dated (Calibration data, ETAT_DAE_CAV3_VIRTUEL, ACQ_INTERRUPT_DAE…) 2.3 19/09/2016 JF Maillard 5.1.1.3 CPLE_VOLANT_OPTMSE added 5.1.1.4 OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED_THRESHOLD: degrees  degrees/s ESC_OFFSET_DATA_ARE_VALID added 5.1.1.5 GEN-EPS-TS-RCA. 0059 (1.0) added. Set of ESC_OFFSET_DATA_ARE_VALID if data received from ESC are valid since 3 consecutive period GEN-EPS-TS-RCA. 0033 (3.0): Addition of one case and conditions to take into account the offset send by the ESC: if the offset known by EPS is not accurate then offset from ESC is taken into account as soon as available. Addition of “VITESSE_VEHICULE_ROUE is valid” to the conditions to take into account the offset. TS-RCA. 0042 (2.0) Addition of VITESSE_VEHICULE_ROUE validity to activate the offset self determination research. GEN-EPS-TS-RCA. 0044 (2.0) Addition of VITESSE_VEHICULE_ROUE validity to take into account the self determinated offset. “COLUMN_ROTATION_SPEED” is replaced by “VITESSE_COLONNE”. “STEERING_WHEEL_TORQUE” is replaced by “CPLE_VOLANT_OPTMSE”.
  • 5. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 5/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.2 GEN-EPS-TS-RCA. 0052 (2.0): “3 seconds” is replaced by “3 Sigma”. 6 Chapter added: “Identifiers of the removed requirements”. 3.0 04/07/2017 JF Maillard 2.2.1 ‘offset calibration, thanks to a service of diagnosis’, removed from presentation ‘offset self-determinated by the EPS’ removed from presentation Prototype signals replaced by official signals: 5.1.1.3 OFFSET  STEER_ANGLE_OFFSET Value ‘unavailable’ added PRECISION_OFFSET  STEER_ANGLE_OFFSET_ACCUR ACQ_INTERRUPT_DAE  VIRTUAL_SWS3_ESP_ACK ETAT_DAE_CAV3_VIRTUEL  VIRTUAL_SWS3_EPS_STATE 011 : EPS works with the ESC offset  Offset used 100 : EPS works with calibrated offset  Reserved 101 : EPS works with self-determined offset  Reserved 5.1.1.5 Related requirements: GEN-EPS-TS-RCA. 0012 (1.1) GEN-EPS-TS-RCA. 0013 (2.0) GEN-EPS-TS-RCA. 0055 (1.1) GEN-EPS-TS-RCA. 0059 (2.0) GEN-EPS-TS-RCA. 0033 (3.1) Filtering of the offset on 2 identical information value 5.1.1.5 Heading of GEN-EPS-TS-RCA. 0059 added: filtering of information of offset GEN-EPS-TS-RCA. 0059 (2.0): “the same valid value since 2 consecutives times” replaces “a valid received valid value since 3 consecutives times” to consider STEER_ANGLE_OFFSET_ACCUR et STEER_ANGLE_OFFSET are valid. Offset calibration removed: 5.1.1.3 DATA1_VOL removed CCW1_VOL_1 removed CCW2_VO removed DATA2_VOL removed 5.3.1.1 In Contextual diagram, removal of sub-functions “ask for calibration” and “Calibrate offset”, and signals between them. Offset self-determination removed 5.1.1.5 GEN-EPS-TS-RCA. 0058 (1.0) removed GEN-EPS-TS-RCA. 0042 (2.0) removed GEN-EPS-TS-RCA. 0043 (1.0) removed GEN-EPS-TS-RCA. 0044 (2.0) removed GEN-EPS-TS-RCA. 0045 (1.0) removed Addition of diagnosis “Loss of reference of measurement of the column angle while asleep”:
  • 6. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 6/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.1.1.4 MEASUREMENT_INTERRUPTED_ASLEEP added. 5.1.1.5 Fault log: loss of reference of measurement while asleep added. GEN-EPS-TS-RCA. 0060 (1.0) added. Conditions to set and reset MEASUREMENT_INTERRUPTED_ASLEEP Signal CALIBRATION_VOL is always set to “Sensor calibrated”: (CALIBRATION_VOL is no more depending on the knowledge of an offset) GEN-EPS-TS-RCA. 0029 (3.0): removal of: CALIBRATION_VOL = “Sensor not calibrated” if “Failure to produce RCA”. GEN-EPS-TS-RCA. 0038 (4.0): removal of: CALIBRATION_VOL = “Sensor calibrated” / “Sensor not calibrated” depending on EFFECTIVE_OFFSET_ACCURACY level. GEN-EPS-TS-RCA. 0048 (2.0): addition of: CALIBRATION_VOL = “Sensor calibrated” (without condition) Addition of diagnosis STEER_ANGLE_OFFSET “invalid”: 5.1.1.5 GEN-EPS-TS-RCA. 0013 (2.0): diagnosis STEER_ANGLE_OFFSET “invalid” is added to the check of the network input flows. Addition of diagnosis “Offset provided by ESC inconsistent with the one known by EPS”: 5.1.1.4 ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION added. ESC_AND_EPS_OFFSET_INCONSISTENT added. 5.1.1.5 Fault log: loss of reference of measurement while asleep added. GEN-EPS-TS-RCA. 0061 (1.0) added. Conditions to set and reset ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION and ESC_AND_EPS_OFFSET_INCONSISTENT. Correction of the Checksum and Process Counter computation: 5.1.1.5 GEN-EPS-TS-RCA. 0056 (2.0): CHKSUM_TRME_DYN_DAE is computed according to [CHK/CPT] and [CAN] GEN-EPS-TS-RCA. 0057 (2.0): CPT_PROCESS_4B_DAE is computed according to [CHK/CPT] and [CAN] GEN-EPS-TS-RCA. 0039 (2.0): CHKSUM_VOL is computed according to [CHK/CPT] and [CAN] GEN-EPS-TS-RCA. 0040 (2.0): CPT_PROCESS_4B_A_VOL is computed according to [CHK/CPT] and [CAN] 6 - Removed requirements: GEN-EPS-TS-RCA. 0041 GEN-EPS-TS-RCA. 0058 GEN-EPS-TS-RCA. 0042 GEN-EPS-TS-RCA. 0043 GEN-EPS-TS-RCA. 0044 GEN-EPS-TS-RCA. 0045 Intervenants / Participants À compléter
  • 7. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 7/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION To be completed Langage de reference / Reference language The reference language of the present document is english.
  • 8. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 8/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION SOMMAIRE / SUMMARY 1. OBJET/ PURPOSE 9 2. DOMAINE D’APPLICATION/SCOPE 10 2.1. CONTEXTE DE DEVELOPPEMENT DU SYSTEME/ SYSTEM DEVELOPMENT CONTEXT 10 2.2. DESCRIPTION GENERALE DU SYSTÈME/ GENERAL DESCRIPTION OF THE SYSTEM 10 2.2.1. Rôle fonctionnel du système/ Functional system role 10 2.2.2. Architecture physique du système/ Physical system architecture 11 2.2.3. Diversité du système/ System diversity 12 2.2.3.1. Diversité fonctionnelle/ Functional diversity 12 2.2.3.2. Diversité d’architecture 12 3. DOCUMENTS CITES/ QUOTED DOCUMENTS 13 3.1. DOCUMENTS DE REFERENCE/ REFERENCE DOCUMENTS 13 3.2. DOCUMENTS APPLICABLES / APPLICABLE DOCUMENTS 13 4. TERMINOLOGIE / TERMINOLOGY 14 4.1. GLOSSAIRE/ GLOSSARY 14 4.2. SIGLES ET ACRONYMES 14 4.3. CONVENTION D’ECRITURE/ WRITING CONVENTION 14 5. EXIGENCES/ REQUIREMENTS 16 5.1. EXIGENCES FONCTIONNELLES / FUNCTIONAL REQUIREMENTS 16 5.1.1. Cas d’utilisation 1/ Use case 1 16 5.1.1.1. Protocoles d’entrée/ Inputs Protocols 16 5.1.1.2. Diagramme de contexte / Contextual diagram 16 5.1.1.3. Liste des E/S applicatives / List of applicative I/O 16 5.1.1.4. Données internes/ Internal data 18 5.1.1.5. Exigences applicatives/ Application requirements 20 5.1.1.6. Protocoles de sortie/ Outputs Protocols 36 5.1.2. Cas d’utilisation 2/ Use case 2 37 5.2. EXIGENCES DE PERFORMANCE/ PERFORMANCE REQUIREMENTS 37 5.3. EXIGENCES D’INTERFACES EXTERNES/ EXTERNAL INTERFACES REQUIREMENTS 38 5.3.1. Interfaces réseaux/ network interfaces 38 5.3.1.1. Diagramme de contexte / Contextual diagram 38 5.3.1.2. Réception et envoi des trames / Réception and sending frames 38 5.3.1.3. Interprétation des données « réseau » / Interpretation of "network" data 38 5.3.2. Interfaces électriques/ Electrical interfaces 39 5.3.3. Interfaces mécaniques/ mechanical interfaces 39 5.3.4. Interfaces homme-machine/ Man-machine Interfaces 39 5.3.5. Autres Interfaces physiques/ Other physical interfaces 39 5.4. EXIGENCES OPERATIONNELLES/ OPERATIONAL REQUIREMENTS 40 5.5. EXIGENCES DE CONTRAINTE/ CONSTRAINT REQUIREMENTS 40 5.6. EXIGENCES D’INTEGRATION ET DE VALIDATION/ INTEGRATION AND VALIDATION REQUIREMENTS 40 6. IDENTIFIANTS DES EXIGENCES SUPPRIMEES / IDENTIFIERS OF THE REMOVED REQUIREMENTS 40
  • 9. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 9/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 1.OBJET/ PURPOSE L’objectif du présent CdC est de :  lister et d’affiner les exigences impactant le fonctionnel du système Direction Assistée Electrique (DAE)  situer le système dans son environnement via le diagramme de contexte,  préciser les interfaces externes,  préciser les exigences de performance, opérationnelles, de contrainte, d’intégration et de validation du système. The goal of the present TS is:  to list and refine the requirements that have an impact on the Electric Power Steering (EPS) system functionality,  locate the system in its environment via the contextual diagram,  specify the external interfaces,  to specify the performance, operational, constraint, integration, and validation requirements for the system.
  • 10. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 10/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 2.DOMAINE D’APPLICATION/SCOPE 2.1.CONTEXTE DE DEVELOPPEMENT DU SYSTEME/ SYSTEM DEVELOPMENT CONTEXT Le présent Cahier des Charges décrit les exigences de la fonction Angle Colonne Recalé avec un offset estimé et mémorisé applicables à un système DAE développé dans le cadre d’un projet véhicule du groupe PSA Peugeot Citroën. The current Specification describes the requirements of the readjusted column angle with an estimated and memorized offset function applicable to an EPS system developed for a vehicle project within the PSA Peugeot Citroën group. Présentation de la finalité du système / Presentation of the system purpose : La finalité de la fonction est de produire un angle colonne de direction recalé, disponible dès le réveil du véhicule (après une première détermination du recalage), cela afin de permettre de connaître la direction du véhicule. The finality of the function is to produce a readjusted steering column angle, available at the wake-up of the vehicle (after a first determination of readjustment), that in order to make it possible to know the direction of the vehicle. 2.2.DESCRIPTION GENERALE DU SYSTÈME/ GENERAL DESCRIPTION OF THE SYSTEM 2.2.1.ROLE FONCTIONNEL DU SYSTEME/ FUNCTIONAL SYSTEM ROLE La DAE mesure en permanence la position angulaire de la colonne de direction grâce aux capteurs d’angle de rotation de son moteur, cet angle colonne est relatif à la position en début de mesure. Le décalage entre la position mesurée et la position correspondant au déplacement du véhicule en ligne droite est appelé offset (erreur constante). L’ESP, grâce aux informations des ses capteurs, vitesse de chaque roue, vitesse de lacet, accélération latérale, détermine la trajectoire du véhicule. Il la compare à l’orientation du véhicule donnée par l’angle colonne ce qui donne une estimation de l’offset. Au fil du roulage et selon les trajectoires parcourues, la précision de l’offset estimé s’améilore. En corrigeant l’angle colonne relatif avec l’offset, on obtient un angle colonne recalé (ou angle colonne absolu) par rapport au déplacement en ligne droite. La DAE mesure la position angulaire de la colonne de direction en permanence, y compris véhicule endormi (contact coupé), et donc les mouvements venant du volant ou des pneus ; ainsi, au cours des cycles de roulage successifs, l’angle colonne reste relatif à la première position de mesure, et l’offset déjà déterminé reste significatif. Une fois l’offset déterminé, l’angle colonne recalé est donc disponible dès le réveil du véhicule (mise contact). En cas d’arrêt de la mesure de rotation de la colonne, comme il est possible que la colonne ait tourné, la fonction est réinitialisée et elle attend de connaître un nouvel offset pour produire l’angle colonne recalé. Fonctionnement retenu : - La DAE produit et émet l’angle colonne relatif. - L’ESP estime l’offset, associé à une précison de cet offset, et les émet. - Si l’offset déterminé par l’ESP est meilleur que celui déjà utilisé par la DAE, ou qu’elle ne connait pas d’offset, la DAE va remplacer son offset effectif par le nouvel offset venant de l’ESP. La DAE effectue le remplacement de son offset effectif seulement quand le véhicule est dans une situation adaptée (dans le but qu’un éventuel « saut d’angle » n’ait pas de conséquence pour les consommateurs). - Quand elle connait un offset effectif, la DAE émet l’angle colonne recalé, égal à l’angle colonne relatif corrigé de l’offset.
  • 11. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 11/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION - L’offset peut aussi être calibré, grâce à un service de diagnostic (UT ou APV) lors d’un réglage de parallélisme des roues. - L’offset peut aussi être auto-déterminé par la DAE, suite à la perte de l’offset (défaillance), par mesure de rotation de la colonne de direction correspondant à des points caractéristiques de la position crémaillère lorsqu’on fait tourner le volant (par example : de butée à butée), véhicule à l’arrêt. Remarque : La fonction est dite « CAV3-virtuel » car elle fournit un angle colonne absolu, comme le CAV3 (Capteur physique d’Angle Volant absolu) mais le caractère absolu est réalisé par estimation et de façon numérique. The EPS permanently measures the angular position of the steering column thanks to its motor rotation angle sensors, this column angle is relative to the position at the beginning of measurement. The diference between the measured position and the position corresponding to the travel of the vehicle on straight line is called offset (constant error). The ESC, thanks to information of its sensors, speed of each wheel, yaw rate, lateral acceleration, determines the trajectory of the vehicle. It compares it to the orientation of the vehicle given by the column angle what gives an estimation of the offset. With the drivings and according to the traversed trajectories, the precision of the estimated offset gets better. By correcting the relative column angle with the offset, one obtains a readjusted column angle (or absolute column angle) compared to travel straight. The EPS permanently measures the angular position of the steering column, including vehicle asleep (contact off), and thus the movements coming from the steering wheel or the tires; thus, during successive driving cycles, the column angle remains relative to the first position of measurement, and the already given offset remains significant. Once the offset is determined, the readjusted column angle is thus available at the vehicle wake-up (contact on). In the event of stop of the measurement of rotation of the column, as it is possible that the column turned, the function is re-initialized and it waits to know a new offset to produce the readjusted column angle. Operation selected: - The EPS produces and emits the relative column angle. - The ESC estimates the offset, associated with an offset accuracy, and emits them. - If the offset determined by the ESC is better than the one already used by the EPS, or EPS does not know any offset, the EPS will replace its effective offset by the new offset coming from ESC. The EPS carries out the replacement of its effective offset only when the vehicle is in an adapted situation (with an aim that a possible “jump of angle” has no consequence for the consumers). - When it knows an effective offset, the EPS emits the readjusted column angle, equal to the relative angle column corrected with the offset. - The offset can also be gauged, thanks to a service of diagnosis (Plant or AS) during a wheel alignment. - The offset can also be self-determinated by the EPS, following the loss of the offset (failure), by measurement of rotation of the steering column corresponding to characteristic points of the rack travel when one turns the steering wheel (for example, from lock to lock), vehicle stopped. Note: The function is known as “virtual-CAV3” because it provides an absolute column angle, as the CAV3 (absolute physical Steering Wheel Sensor) but the absolute nature is carried out by estimate and in a digital way. 2.2.2.ARCHITECTURE PHYSIQUE DU SYSTÈME/ PHYSICAL SYSTEM ARCHITECTURE Le synoptique ci-dessous représente les liens physiques principaux entre les différents organes lorsqu’ils sont présents. Ce diagramme est donné pour la compréhension du contexte. The flowchart below represents the main physical connections between the different components when they are present. This diagram is provided for understanding the context.
  • 12. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 12/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION À compléter To be completed Conventions graphiques des schémas : Graphic conventions for the diagrams: : Organe/ Component : Alimentation électrique/ Electric power supply : Liaison multiplexée : LIN/ Multiplex link: LIN : Liaison multiplexée : CAN LS FT CONFORT / Multiplex link: CAN LS FT COMFORT : Liaison mécanique/ Mechanical connection : Liaison filaire/ Wire connection : Liaison sans fil/ Wireless link : Capteur ou actionneur intégré physiquement à un calculateur/ Sensor or actuator physically built-in to a computer 2.2.3.DIVERSITE DU SYSTEME/ SYSTEM DIVERSITY 2.2.3.1.Diversité fonctionnelle/ Functional diversity Non applicable / not applicable 2.2.3.2.Diversité d’architecture Non applicable / not applicable
  • 13. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 13/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 3.DOCUMENTS CITES/ QUOTED DOCUMENTS 3.1.DOCUMENTS DE REFERENCE/ REFERENCE DOCUMENTS Les documents de référence sont les spécifications d’entrée pour la construction de la ST. Ils ne sont pas nécessaires à la réalisation du système et ne sont donc pas livrables au fournisseur. Leurs exigences sont déclinées au niveau de l’organe dans la présente ST. The reference documents are the input specifications for building the ST. They are not needed for the implementation of the system and therefore will not be sent to the supplier. Their requirements are made available at the unit level in this TS. 3.2.DOCUMENTS APPLICABLES / APPLICABLE DOCUMENTS Repère/ Mark Référence/ Reference Version/ version Titre/ Title [D/A] 01452_12_00155 cf TS software Démarrage, maintien, Arrêt assistance de direction DAE Steering Assistance « Start up », « Hold » and « Shut down » EPS [R/E] 01554_10_05004 cf TS software ST Réveil / Endormissement DAE et DAEH Wake up and Shutdown TS EPS and HEPS [CAN] cf TS software cf TS software Messagerie CAN CAN messaging [HW] cf TS software cf TS software ST DAE – partie électrique électronique TS EPS – Electric Electronic part [CKS/CPT] 01554_10_00970 cf TS software Frames Securization by Checksum and Process Counter STE STE Sécurisation Trames par Checksum et Compteur de Processus [EPS_TS] cf TS software cf TS software Technical Specification Electric Power Steering for <project>
  • 14. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 14/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 4.TERMINOLOGIE / TERMINOLOGY 4.1.GLOSSAIRE/ GLOSSARY 4.2.SIGLES ET ACRONYMES +APC + APrès Contact / + After ignition feed ER Evénement Redouté / Dreaded Event À compléter To be completed 4.3.CONVENTION D’ECRITURE/ WRITING CONVENTION 1- Exigences : Les exigences sont présentées sous la forme d’un tableau à 3 colonnes: 1 Requirements: The requirements are submitted in the form of a table that contains 3 columns: Identifiant d’exigence / requirement identification Libellé de l’exigence / Description of the requirement exigence amont / upstream requirement Texte de l’exigence Text of the requirement [Traduction du texte de l’exigence dans la langue « X » en bleu italique] [Translation of the text of the requirement in the language “X” in Italic blue] [Commentaire éventuel, non spécifiant, en italique] [Possible Comment, not specifying, in italic] [Attribut] [Attribute] Numérotation des exigences/ Numbering of requirements: APP-SYS-DOC-CHAP.nnnn (V.V) : APP : Application générique (GEN) ou Projet (ex. B9) Generic application (GEN) or Project (ex. B9) : 5 caractères max : max 5 characters SYS : Système étudié (VHL, BSI, CdPL, etc.) System studied (VHL, BSI, CdPL, etc.) : 10 caractères max : max 10 characters DOC : Type de document (ST, DC, etc.) Document type (TS, DC, etc.) : 5 caractères max : max 5 characters CHAP : Chapitre du document ou Nom de la fonction (véhicule ou de conception) (ex. ASOP, ECLI,…) Document chapter or function name (vehicle or design) (ex. ASOP, ECLI,…) : 20 caractères max : max 20 characters nnnn : Numéro de l’exigence Number of the requirement : 4 chiffres : 4 digits V.V : Version de l’exigence Requirement version : 0.x puis 1.x, 2.x… : 0.x then 1.x, 2.x…  GEN-EPS-TS-RCA. nnnn (V.V)
  • 15. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 15/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION Attributs des exigences : Certaines exigences ont besoin d’être signalées dans la ST par un attribut spécifique afin de faciliter un traitement particulier qui leur est associé. Ce traitement particulier concerne un besoin de traçabilité interne à PSA, ou des exigences complémentaires concernant le fournisseur. Requirements attributes: Some requirements need to be highlighted in the ST by a specific attribute to facilitate the specific processing associated with them. This specific processing concerns a PSA internal traceability requirement, or additional requirements concerning the supplier. Type d’attribut/ Type of attribute Nature de l’exigence/ Nature of requirement Traitement particulier/ Particular treatment att_SdF@ « Gxn » Exigence Sûreté de Fonctionnement Failsafe Operation Requirement Cette exigence répond à un ER de gravité 3 ou 4 « Gx » désigne le niveau de gravité (G1 à G4) « n » l’ASIL (A, B, …). This requirement is a response to a DE (Dreaded Event) of criticality 3 or 4. "Gx" designates the criticality level (G1 to G4) "n" the ASIL (A, B, … ). Att_var@ « var1 » … « var i » Tout type Any type Exigence applicable aux variantes « var 1 » … « var i ». Requirement applicable to variants "var 1" ... "var i". Remarque : Le système est classé « Sécuritaire » selon norme A13 3310 s’il participe à au moins un ER de gravité 4 ASIL C ou D en coupe d’ordre 1. Les exigences sécuritaires sont donc celles qui répondent à ces ER. Note: The system is classified as "Safety" according to standard A13 3310 if it takes part in at least one criticality 4 ER ASIL C or D in cuts of rank 1. The safety requirements are therefore those who meet these ER.
  • 16. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 16/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.EXIGENCES/ REQUIREMENTS 5.1. EXIGENCES FONCTIONNELLES / FUNCTIONAL REQUIREMENTS Ce chapitre présente une structuration des exigences qui n’est aucunement spécifiante et ne doit pas contraindre la conception. 5.1.1.CAS D’UTILISATION 1/ USE CASE 1 5.1.1.1.Protocoles d’entrée/ Inputs Protocols <vide> <empty> 5.1.1.2.Diagramme de contexte / Contextual diagram À compléter To be completed 5.1.1.3.Liste des E/S applicatives / List of applicative I/O Désignation des E/S / Designation of the I/O Valeurs / Values Description Intputs CHKSUM_TRME_DYN_UCF cf [CHK/CPT] and [CAN] UCF frame dynamic checksum CPT_PROCESS_4B_UCF cf [CHK/CPT] and [CAN] 4bits compute process counter for UCF OFFSET STEER_ANGLE_OFFSET [-1630;1630] degrees unavailable (initialization) invalid (initialization) Difference between the absolute rotation angle of the steering column, defined at 0° when the vehicle runs in a straight line, and the relative rotation angle of the steering column, uninterrupted measurement of angles variations. Precision: PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR Ecart entre l’angle absolu de rotation de la colonne de direction, défini à 0° quand le véhicule roule droit, et l’angle relatif de rotation de la colonne de direction, mesure ininterompue d’écarts d’angles. Précision: PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR [0; 29] degrees unavailable (initialization) invalid Absolute value of the accuracy of the estimated offset (accuracy except dysfunction). Valeur absolue de la précision de l’offset estimé (incertitude hors dysfonctionnement). ACQ_INTERRUPT_DAE VIRTUAL_SWS3_ESP_ACK No acknowledge (initialization) Acknowledge Indicateur d’acquittement de la demande d’initialisation d’offset. Acknowledge flag of the offset initialization request VITESSE_VEHICULE_ROUE [0;250] km/h invalid (initialization: VEH_SPD_INIT cf [CAN]) Vehicle speed. Vitesse véhicule.
  • 17. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 17/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION CONFIG_VHL 000 : Fitting 001 : Plant 010 : Check 011 : Storage / Transport 100 : Client 101 : APV 110 : Show room 111 : Invalid Vehicle configuration state Etat de la configuration véhicule DATA1_VOL 0101 RCA data, 1rst part Données RCA 1ère partie CCW1_VOL_1 0011 : Calibrate RCA 0101 : Invalidate RCA RCA Command control word_part 1 Mot de commande RCA _partie 1 CCW2_VO 0 RCA Command control word_part 2 Mot de commande RCA_partie 2 DATA2_VOL 0110000 RCA data, 2nd part Données RCA 2ème partie CPLE_VOLANT_OPTMSE [-10;10] N.m invalid (initialization) resolution: 0.1 Steering-wheel torque measured. note: this input of the readjusted steering-column angle function is an output of the EPS Couple volant mesuré. Remarque : cette entrée de la fonction angle recalé de la colonne de direction est une sortie d ela DAE. Outputs ANGLE_VOLANT [-780;780] degrees (initialization: 0°) invalid Readjusted angle of the steering-column. Angle recalé de la colonne de direction. VITESSE_ROT_VOL [0;1016] degrees/s (initialization: 0°/s) invalid Rotation speed of the steering-column. Vitesse de rotation de la colonne de direction. SENS_ROT_VOL positive (initialization) negative Direction of rotation of the steering-column. Sens de rotation de la colonne de direction. CODE_DEFAUT_VOL No default Steering Wheel Sensor fault coding. Codage défaut Capteur Angle Volant. TRIM_VOL trimmed Steering Wheel Sensor trimmed. Capteur Angle Volant ajusté. CALIBRATION_VOL not calibrated (init.) calibrated State of calibration of the Steering Wheel Sensor. Etat de calibration du Capteur Angle Volant. ETAT_CAPT_VOL faulty operational (init.) State of the Steering Wheel Sensor. Etat Capteur Angle Volant. CHKSUM_VOL SWS checksum CPT_PROCESS_4B_A_VOL 4 bits Compute process counter for SWS VITESSE_ROT_VOL_OPTIMISE [0;1016] degrees/s (initialization: 0°) invalid Rotation speed of the steering-column. Vitesse de rotation de la colonne de direction. FLG_INIT_AVOL steering wheel angle available steering wheel angle not available (initialization) Availability of the readjusted angle of the steering- column. Disponibilité de l’angle recalé de la colonne de direction. FLG_AVOL_ICN steering wheel angle accurate steering wheel angle not accurate (initialization) Accuracy of the readjusted angle of the steering- column. Précision de l’angle recalé de la colonne de direction. ANGLE_VOLANT_ORIGINE other indication about producer of steering wheel information indication du producteur de l’information angle volant CHKSUM_TRME_DYN_DAE DAE frame dynamic checksum CPT_PROCESS_4B_DAE 4bits compute process counter for DAE
  • 18. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 18/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION ANGLE_COLONNE [-1630;1630] degrees invalid Relative angle of the steering-column. Angle relatif de la colonne de direction. VITESSE_COLONNE [-1016;1016] degrees/s invalid Rotation speed of the steering-column. Vitesse de rotation de la colonne de direction. ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE 000 : Initialization (initialization) 001 : Offset initialization request 010 : Offset search authorization 011 : EPS works with the ESC offset Offset used 100 : EPS works with calibrated offset Reserved 101 : EPS works with self- determined offset Reserved 110 : Reserved 111 : Invalid States of the readjusted steering-column angle function on EPS side used to command the ESC part of the function (initialization request, search authorization…). États de la fonction angle recalé de la colonne de direction côté DAE utilisés pour piloter la partie ESP de la fonction (demande d’initialisation, autorisation de recherche…). ETAT_SECU_ANGLE_COL not reliable (initialization) reliable Reliability of the steering-column angle. Fiabilité de l’angle colonne de direction. 5.1.1.4.Données internes/ Internal data Données internes paramétrables : Configurable internal data: Nom de la donnée/ Name of the data item Mini / Maxi / Résolution Valeur par défaut / Min / Max / Resolution / Default value Description ANGLE_AVAILABLE_THRESHOLD [10;30] degrees resolution: 0.1 default value: 22.0 Threshold to consider the readjusted column angle “available”. Seuil pour considérer l’angle colonne recalé “disponible” ANGLE_ACCURATE_THRESHOLD [0;10] degrees resolution: 0.1 default value: 5.0 Threshold to consider the readjusted column angle “accurate”. Seuil pour considérer l’angle colonne recalé “précis” EFFECTIVE_OFFSET_ACCURACY_ CALIBRATION_VALUE [0;10] degrees resolution: 0.1 default value: 2.0 Value of accuracy of effective offset if the offset is learned by calibration. Valeur de précision d’offset effectif si l’offset est appris par calibartion. OFFSET_SELF_DETERMINATION_S PEED_LOW_THRESHOLD [0;10] km/h resolution: 0.1 default value: 3.0 Low threshold speed to measure an offset by the sub- function of self-determination. Seuil bas de vitesse pour mesurer un offset par la sous-fonction d’auto-détermination. OFFSET_SELF_DETERMINATION_S PEED_HIGH_THRESHOLD [0;10] km/h resolution: 0.1 default value: 5.0 High threshold speed to measure an offset by the sub- function of self-determination. Seuil haut de vitesse pour mesurer un offset par la sous-fonction d’auto-détermination. SELF_DETERMINATION_EFFECTIV E_OFFSET_ACCURACY [0;10] degrees resolution: 0.1 default value: to be defined by supplier Value of accuracy of effective offset if the offset is learned by EPS self determination. Valeur de précision d’offset effectif si l’offset est appris par auto-détermination de la DAE. OFFSET_MEMORIZATION_VEHICLE _SPEED_THRESHOLD [0;10] km/h resolution: 0.1 default value: 3.0 Vehicle speed threshold to take into account / to memorize an offset. Seuil de vitesse véhicule pour prendre en compte / mémoriser un offset.
  • 19. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 19/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION OFFSET_MEMORIZATION_COLUMN _ROTATION_SPEED_THRESHOLD [0;6] degrees/s resolution: 1 default value: 3 Column rotation speed threshold to take into account / to memorize an offset. Seuil de vitesse de rotation colonne pour prendre en compte / mémoriser un offset. OFFSET_MEMORIZATION_STEERIN G_WHEEL_TORQUE_THRESHOLD [0.1;1.0] N.m resolution: 0.1 default value: 0.3 Steering Wheel torque threshold to take into account / to memorize an offset. Seuil de couple volant pour prendre en compte / mémoriser un offset. Données internes non spécifiantes : Non specifying internal data: Désignation des E/S / Designation of the I/O Valeurs / Values Description RCA_FUNCTION_ACTIVATION <not used yet> deactivated activated State of the function Readjusted Column Angle according to the variant coding of the EPS Etat de la fonction Angle Colonne Recalé selon le télécodage de la DAE. RCA_FUNCTION_STATE ECU_Off Sleep - measurement deactivated Sleep - measurement activated Produce RCA Failure to produce RCA State machine of the Readjusted Column Angle function. Machine d’état de la fonction Angle Colonne Recalé. RCA_FUNCTION_RUNNING on off State of the function Readjusted Column Angle according to the vehicle life situation given by a signal coming from BSI. Etat de la fonction Angle Colonne Recalé selon la phase de vie véhicule donnée par un signal venant du BSI RCA_MEMORIZATION_HABILITATIO N_STATE deactivated activated (initialization) State of the memorization habilitation of the function Readjusted Column Angle. Deactivated: bolt to ensure that ESC took into account an EPS fault. Etat de l’autorisation de mémorisation de la fonction Angle Colonne Recalé. Désactivé : verrou pour assurer que ESP a pris en compte un défaut DAE. CA_SENSOR_FAULT present absent (initialization) Indicates the presence or not of failure that prevents the EPS to measure the rotation of the steering column or to produce a reliable angle of rotation of the column. Indique la présence ou non de défaillance qui empêche la DAE de mesurer la rotation de la colonne de direction ou de produire un angle de rotation de la colonne de direction fiable. RCA_EPS_EXTERNAL_INPUTS_FAU LT absent (initialization) present Indicates the presence or not of faults of the inputs of the function Readjusted Column Angle. Indique la présence ou non de défauts des entrées de la fonction Angle Colonne Recalé. EFFECTIVE_OFFSET [-1630;1630] degrees unknown (initialization) Offset used by the function to calculate and emit the readjusted column angle. Offset utilisé par la fonction pour calculer et émettre l’angle colonne recalé EFFECTIVE_OFFSET_ACCURACY [0;63] degrees unknown (initialization) Accuracy of the offset considered by the function and associated with the readjusted column angle emitted. Précision d’offset considérée par la fonction et associéé à l’angle colonne recalé émis.
  • 20. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 20/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION OFFSET_SELF_DETERMINATION _STATE deactivated (initialization) activated State of the sub-function of self-determination of the offset. Etat de la sous-fonction d’auto-détermination de l’offset. SELF_DETERMINATION_EFFECTIVE _OFFSET [-1630;1630] degrees unknown (initialization) Offset measured by the sub-function of self- determination of the offset. Offset mesuré par la sous-fonction d’auto- détermination de l’offset. ESC_OFFSET_DATA_ARE_VALI D true false (initialization) Indicates the data related to offset coming from ESC are valid since a given duration. Indique que les données relatives à l’offset venant de l’ESP sont valides depuis une durée donnée. MEASUREMENT_INTERRUPTED _ASLEEP true false (initialization) Indicates there has been a loss of reference of measurement of the column angle during asleep phase. Is used to register a Diagnostic Trouble Code. Indique qu’il y a eu une perte de référence de la mesure de l’angle colonne pendant la phase endormie. Est utilisé pour enregistrer un code d'anomalie de diagnostic (DTC). ESC_AND_EPS_OFFSET_INCON SISTENT_DETECTION true false (initialization) Indicates there is an offset provided by ESC inconsistent with the one known by EPS. Indique qu’il y a un offset fourni par l’ESP incohérent de celui connu par la DAE. ESC_AND_EPS_OFFSET_INCON SISTENT true false (initialization) Indicates there has been an offset provided by ESC inconsistent with the one known by EPS. Is used to register a Diagnostic Trouble Code. Indique qu’il y a eu un offset fourni par l’ESP incohérent de celui connu par la DAE. Est utilisé pour enregistrer un code d'anomalie de diagnostic (DTC). 5.1.1.5.Exigences applicatives/ Application requirements Identifiant d’exigence / requirement identification Libellé de l’exigence / Description of the requirement Exigence amont / Input requirement
  • 21. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 21/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION Incapacity/capacity to produce column angle GEN-EPS- TS-RCA. 0010 (1.0) IF a failure that prevents the EPS to measure the rotation of the steering column or to produce a reliable angle of rotation of the column is confirmed THEN CA_SENSOR_FAULT = “present” IF every fault that prevents the EPS to measure the rotation of the steering column or to produce a reliable angle of rotation of the steering column is absent AND no failure that prevents the EPS to measure the rotation of the steering column or to produce a reliable angle of rotation of the steering column is confirmed THEN CA_SENSOR_FAULT = “absent” Comment: The failure is the physical phenomenon, the fault is the logical state. The fault should not necessarily be confirmed to declare incapcity. Every failure has to be considered, whatever its root cause: voltage out of range, reset, component failure… Check of the inputs Initialization GEN-EPS- TS-RCA. 0011 (1.0) The initialization value of RCA_EPS_EXTERNAL_INPUTS_FAULT is “absent” With initialization = transition from ECU STATE “Sleep” to “Init” Cf [R/E] Comment: ECU_STATE: Sleep = power supply, +APC = OFF Init = power supply, +APC = ON Diagnostic “OFFSET and PRECISION_OFFSET inconsistent”
  • 22. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 22/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0012 (1.1) ECU STATE is “Running” cf [R/E] AND UCDIRA_FENETRE_DIAG_UCFREIN_1 = 1 cf [CAN] IF (OFFSET STEER_ANGLE_OFFSET is “invalid” AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is a valid value) FOR 3 periods of the signals OR (OFFSET STEER_ANGLE_OFFSET is a valid value AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is “invalid”) FOR 3 periods of the signals THEN The fault “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR inconsistent” is confirmed IF (OFFSET STEER_ANGLE_OFFSET is “invalid” AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is “invalid”) FOR 10 periods of the signals OR (OFFSET STEER_ANGLE_OFFSET is a valid value AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is a valid value OR is “unavailable”) FOR 10 periods of the signals THEN The fault “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR inconsistent” is recovered Comment: UCDIRA_FENETRE_DIAG_UCFREIN_1 is the diagnostic window of the signals coming from the Brake ECU (UCFREIN). Check of the network input flows GEN-EPS- TS-RCA. 0013 (2.0) IF STEER_ANGLE_OFFSET value is confirmed “invalid” cf [CAN] OFFSET STEER_ANGLE_OFFSET value is confirmed “out of range” cf [CAN] OR PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR value is confirmed “invalid” cf [CAN] OR VITESSE_VEHICULE_ROUE value is confirmed “invalid” cf [CAN] OR frame containing OFFSET STEER_ANGLE_OFFSET has a confirmed failure: missing or too short cf [CAN]. OR frame containing PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR has a confirmed failure: missing or too short cf [CAN]. OR frame containing VITESSE_VEHICULE_ROUE has a confirmed failure: missing or too short cf [CAN]. OR CHKSUM_TRME_DYN_UCF is confirmed erroneous cf [CHK/CPT] and [CAN] OR CPT_PROCESS_4B_UCF is confirmed freezed cf [CHK/CPT] and [CAN] OR “OFFSET STEER_ANGLE_OFFSET and PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR inconsistent” is confirmed THEN RCA_EPS_EXTERNAL_INPUTS_FAULT = “present” ELSE RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent” Activation / deactivation of the RCA function in order not to consume current
  • 23. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 23/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0014 (2.0) ECU STATE is “Comlatch” cf [R/E] IF last received value of CONFIG_VHL = “Storage / Transport” OR “Show room” THEN RCA_FUNCTION_RUNNING = “Off” ELSE RCA_FUNCTION_RUNNING = “On” Comment: CONFIG_VHL can take the values: Fitting, Plant, Check, Storage / Transport, Client, After-Sale, Show room, Invalid (Montage, Usine, Contrôle, Sockage / Transport, Client, APV, Show room, invalide) State machine RCA_FUNCTION_STATE Any state ECU_Off Sleep - measurement deactivated Sleep - measurement activated Produce RCA ECU_STATE = “Running” AND CA_SENSOR_ FAULT = “absent” ECU_STATE = “Sleep” AND RCA_FUNCTION _RUNNING = “On” RCA initialization ECU_STATE = “Running” AND CA_SENSOR_ FAULT = “absent” Failure to produce RCA ECU_STATE <> “Sleep” AND CA_SENSOR_FAULT = “Absent” ECU_STATE <> “Sleep” AND CA_SENSOR_FAULT = “Present” ECU_STATE = “Sleep” ECU_STATE = “Running” AND CA_SENSOR_FAULT = “present” Power supply sufficient to monitor Column Angle Power supply too low to monitor Column Angle ECU_STATE = “Sleep” AND RCA_FUNCTION _RUNNING = “Off” ECU_STATE = “Running” AND CA_SENSOR_FAULT = “present” any state to “ECU_Off”
  • 24. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 24/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0015 (1.0) Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated” OR “Sleep - measurement activated” OR “Produce RCA” OR “Failure to produce RCA” IF EPS power supply is too low to monitor the rotation of the steering column THEN RCA_FUNCTION_STATE = “ECU_Off” “ECU_Off” to “Sleep - measurement deactivated” GEN-EPS- TS-RCA. 0016 (1.0) Start state: RCA_FUNCTION_STATE = “ECU_Off “ IF EPS power supply is high enough to monitor the rotation of the steering column THEN RCA_FUNCTION_STATE = “Sleep - measurement deactivated” “Sleep - measurement deactivated” to “Produce RCA” GEN-EPS- TS-RCA. 0017 (1.0) Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated” IF ECU STATE = “Running” cf [R/E] AND CA_SENSOR_FAULT = “absent” THEN RCA_FUNCTION_STATE = “Produce RCA” Comment: ECU STATE: Running = power supply, +APC = ON, ECU initialized, frames emission “Sleep - measurement deactivated” to “Failure to produce RCA” GEN-EPS- TS-RCA. 0018 (1.0) Start state: RCA_FUNCTION_STATE = “Sleep - measurement deactivated” IF ECU STATE = “Running” cf [R/E] AND CA_SENSOR_FAULT = “present” THEN RCA_FUNCTION_STATE = “Failure to produce RCA” Comment: ECU STATE: Running = power supply, +APC = ON, ECU initialized, frames emission “Produce RCA” to “Sleep - measurement deactivated”
  • 25. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 25/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0019 (1.0) Start state: RCA_FUNCTION_STATE = “Produce RCA” IF ECU STATE = “Sleep” cf [R/E] AND RCA_FUNCTION_RUNNING = “Off” THEN RCA_FUNCTION_STATE = “Sleep - measurement deactivated” ECU STATE: Sleep = power supply, +APC = OFF “Produce RCA” to “Sleep - measurement activated” GEN-EPS- TS-RCA. 0020 (1.0) Start state: RCA_FUNCTION_STATE = “Produce RCA” IF ECU STATE = “Sleep” cf [R/E] AND RCA_FUNCTION_RUNNING = “On” THEN RCA_FUNCTION_STATE = “Sleep - measurement activated” Comment: ECU STATE: Sleep = power supply, +APC = OFF “Produce RCA” to “Failure to produce RCA” GEN-EPS- TS-RCA. 0021 (1.0) Start state: RCA_FUNCTION_STATE = “Produce RCA” IF ECU STATE <> “Sleep” cf [R/E] AND CA_SENSOR_FAULT = “present” THEN RCA_FUNCTION_STATE = “Failure to produce RCA” Comment: ECU STATE: Sleep = power supply, +APC = OFF “Failure to produce RCA” to “Produce RCA” GEN-EPS- TS-RCA. 0022 (1.0) Start state: RCA_FUNCTION_STATE = “Failure to produce RCA” IF ECU STATE <> “Sleep” cf [R/E] AND CA_SENSOR_FAULT = “absent” THEN RCA_FUNCTION_STATE = “Produce RCA” Comment: ECU STATE: Sleep = power supply, +APC = OFF “Failure to produce RCA” to “Sleep - measurement deactivated”
  • 26. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 26/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0023 (1.0) Start state: RCA_FUNCTION_STATE = “Failure to produce RCA” IF ECU STATE = “Sleep” cf [R/E] THEN RCA_FUNCTION_STATE = “Sleep - measurement deactivated” Comment: ECU STATE: Sleep = power supply, +APC = OFF “Sleep - measurement activated” to “Produce RCA” GEN-EPS- TS-RCA. 0024 (1.0) Start state: RCA_FUNCTION_STATE = “Sleep - measurement activated” IF ECU STATE = “Running” cf [R/E] AND CA_SENSOR_FAULT = “absent” THEN RCA_FUNCTION_STATE = “Produce RCA” Comment: ECU STATE: Running = power supply, +APC = ON, ECU initialized, frames emission “Sleep - measurement activated” to “Failure to produce RCA” GEN-EPS- TS-RCA. 0025 (1.0) Start state: RCA_FUNCTION_STATE = “Sleep - measurement activated” IF ECU STATE = “Running” cf [R/E] AND CA_SENSOR_FAULT = “present” THEN RCA_FUNCTION_STATE = “Failure to produce RCA” Comment: ECU STATE: Running = power supply, +APC = ON, ECU initialized, frames emission Sleep - measurement deactivated GEN-EPS- TS-RCA. 0027 (1.0) RCA_FUNCTION_STATE is “Sleep - measurement deactivated” The EPS does not measure the rotation of the steering column and does not produce an angle of rotation of the column Sleep - measurement activated GEN-EPS- TS-RCA. 0028 (1.0) RCA_FUNCTION_STATE is “Sleep - measurement activated” ANGLE_COLONNE = measured value Comment: The measurement is since the first measurement after last interruption. Fault log: Loss of reference of measurement while asleep
  • 27. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 27/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0060 (1.0) IF RCA_FUNCTION_STATE is “Sleep - measurement deactivated” THEN MEASUREMENT_INTERRUPTED_ASLEEP = “true” IF RCA_FUNCTION_STATE is “Sleep - measurement activated” THEN MEASUREMENT_INTERRUPTED_ASLEEP = “false” Failure to produce RCA GEN-EPS- TS-RCA. 0029 (3.0) RCA_FUNCTION_STATE is “Failure to produce RCA” ANGLE_COLONNE = “invalid” ETAT_SECU_ANGLE_COL = “not reliable” ETAT_DAE_CAV3_VIRTUEL = “invalid” ANGLE_VOLANT = “invalid” FLG_INIT_AVOL = “steering wheel angle not available” FLG_AVOL_ICN = “steering wheel angle not accurate” CALIBRATION_VOL = “Sensor not calibrated” EFFECTIVE_OFFSET = “unknown” EFFECTIVE_OFFSET_ACCURACY = “unknown” Produce RCA Produce relative angle of the steering-column GEN-EPS- TS-RCA. 0031 (2.0) RCA_FUNCTION_STATE is “Produce RCA” ANGLE_COLONNE = measured value ETAT_SECU_ANGLE_COL = “reliable” Comment: The measurement is since the first measurement after last interruption. RCA initialization GEN-EPS- TS-RCA. 0054 (2.0) IF transition from RCA_FUNCTION_STATE = “Sleep - measurement deactivated” to “Produce RCA” OR transition from RCA_FUNCTION_STATE = “Failure to produce RCA”to “Produce RCA” THEN ETAT_DAE_CAV3_VIRTUEL = “offset initialization request” RCA_MEMORIZATION_HABILITATION_STATE = “deactivated” EFFECTIVE_OFFSET = “unknown” EFFECTIVE_OFFSET_ACCURACY = “unknown” Comment: Measured value of ANGLE_COLONNE at that moment is the first measured value, so it can be set to 0°, but it is not necessary. Lock of the function until ESC acknowledged an interruption
  • 28. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 28/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0055 (1.1) RCA_FUNCTION_STATE is “Produce RCA” IF ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “offset initialization request” AND ACQ_INTERRUPT_DAE VIRTUAL_SWS3_ESP_ACK = “acknowledge” THEN RCA_MEMORIZATION_HABILITATION_STATE = “activated” ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “offset search authorization” Comment: When ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE has the value “offset initialization request”, ESC stops its part of the function and sends ACQ_INTERRUPT_DAE VIRTUAL_SWS3_ESP_ACK to the value “acknowledge”. The function Readjusted Column Angle is locked in case EPS cannot provide column angle and until ESC has taken into account the defect. ESC sends OFFSET STEER_ANGLE_OFFSET at the value “invalid” when it cannot produce it because of a defect or when it has not found the offset. filtering of information of offset GEN-EPS- TS-RCA. 0059 (2.0) RCA_FUNCTION_STATE is “Produce RCA” IF PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR is a valid received the same valid value since 3 2 consecutives times AND OFFSET STEER_ANGLE_OFFSET is a valid received the same valid value since 3 2 consecutives times THEN ESC_OFFSET_DATA_ARE_VALID = “true” ELSE ESC_OFFSET_DATA_ARE_VALID = “false” A "valid received value" mentioned in this requirement designates a received value with no failure: neither a frame failure, nor a signal failure associated to this signal. Fault log: offset known by EPS inconsistent with the one provided by ESC
  • 29. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 29/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0061 (1.0) RCA_FUNCTION_STATE is “Produce RCA” AND RCA_MEMORIZATION_HABILITATION_STATE = “activated” AND RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent” IF (ESC_OFFSET_DATA_ARE_VALID = “true” AND the range of possible values of STEER_ANGLE_OFFSET considering STEER_ANGLE_OFFSET_ACCUR is separated of the range of possibles values of EFFECTIVE_OFFSET considering EFFECTIVE_OFFSET_ACCURACY) THEN ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “true” ESC_AND_EPS_OFFSET_INCONSISTENT = “true” IF (ESC_OFFSET_DATA_ARE_VALID = “true” AND ESC_AND_EPS_OFFSET_INCONSISTENT = “true” AND EFFECTIVE_OFFSET = STEER_ANGLE_OFFSET AND EFFECTIVE_OFFSET_ACCURACY = STEER_ANGLE_OFFSET_ACCUR) THEN ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “false” IF (ESC_OFFSET_DATA_ARE_VALID = “true” AND the range of possible values of STEER_ANGLE_OFFSET considering STEER_ANGLE_OFFSET_ACCUR is NOT separated of the range of possibles values of EFFECTIVE_OFFSET considering EFFECTIVE_OFFSET_ACCURACY AND EFFECTIVE_OFFSET_ACCURACY < STEER_ANGLE_OFFSET_ACCUR) THEN ESC_AND_EPS_OFFSET_INCONSISTENT = “false” Comment: If the offset known by EPS is inconsistent with the one provided by ESC a fault is logged, it is rehabilated after the ESC offset has been taken into account and when the offset the offset provided is more accurate. taking into account of the offset GEN-EPS- TS-RCA. 0033 (4.0) RCA_FUNCTION_STATE is “Produce RCA” AND RCA_MEMORIZATION_HABILITATION_STATE = “activated” AND RCA_EPS_EXTERNAL_INPUTS_FAULT = “absent” IF ESC_OFFSET_DATA_ARE_VALID = “true” AND [ EFFECTIVE_OFFSET = “unknown” ] OR [ FLG_AVOL_ICN = “steering wheel angle not accurate” ] OR [ ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION =
  • 30. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 30/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION “false” AND PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR =< EFFECTIVE_OFFSET_ACCURACY AND VITESSE_VEHICULE_ROUE is a valid received value AND VITESSE_VEHICULE_ROUE < OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHO LD (typically 3 km/h) AND VITESSE_COLONNE < OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED _THRESHOLD (typically 3°/s) AND CPLE_VOLANT_OPTMSE < OFFSET_MEMORIZATION_STEERING_WHEEL_TORQU E_THRESHOLD (typically 0.3 N.m) ] OR [ ESC_AND_EPS_OFFSET_INCONSISTENT_DETECTION = “true” AND VITESSE_VEHICULE_ROUE is a valid received value AND VITESSE_VEHICULE_ROUE < OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHO LD (typically 3 km/h) AND VITESSE_COLONNE < OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED _THRESHOLD (typically 3°/s) AND CPLE_VOLANT_OPTMSE < OFFSET_MEMORIZATION_STEERING_WHEEL_TORQU E_THRESHOLD (typically 0.3 N.m) ] THEN EFFECTIVE_OFFSET = OFFSET STEER_ANGLE_OFFSET EFFECTIVE_OFFSET_ACCURACY = PRECISION_OFFSET STEER_ANGLE_OFFSET_ACCUR ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE = “EPS works with the ESC offset” “Offset used” Comment: If no offset is known by EPS, EPS takes into account offset provided by ESC as soon as it is available. If the offset known by EPS is not accurate enough to qualify the readjusted column angle accurate EPS, takes into account offset provided by ESC as soon as it is available. If an offset is already known by EPS, EPS takes into account offset provided by ESC if it is at least as accurate and under suitable conditions. If the offset known by EPS is inconsistent with the one provided by ESC, EPS takes into account offset provided by ESC under suitable conditions. According to [CAN], in case of an input failure detected but not confirmed, the internal variable keeps the last valid received value. A "valid received value" designates a received value with no failure: neither a frame failure, nor a signal failure associated to this signal. Set of the outputs “readjusted column angle” and flags
  • 31. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 31/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0038 (4.0) RCA_FUNCTION_STATE is “Produce RCA” IF EFFECTIVE_OFFSET <> “unknown” THEN ANGLE_VOLANT = ANGLE_COLONNE + EFFECTIVE_OFFSET ELSE ANGLE_VOLANT = ANGLE_COLONNE IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_AVAILABLE_THRESHOLD THEN FLG_INIT_AVOL = “steering wheel angle available” ELSE FLG_INIT_AVOL = “steering wheel angle not available” IF EFFECTIVE_OFFSET_ACCURACY =< ANGLE_ACCURATE_THRESHOLD THEN FLG_AVOL_ICN = “steering wheel angle accurate” CALIBRATION_VOL = “Sensor calibrated” ELSE FLG_AVOL_ICN = “steering wheel angle not accurate” CALIBRATION_VOL = “Sensor not calibrated” Set of the outputs related to “column angle” Checksum and Process Counter GEN-EPS- TS-RCA. 0056 (2.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_COLONNE is not corrupted ETAT_DAE_CAV3_VIRTUEL is not corrupted AND ETAT_SECU_ANGLE_COL is not corrupted THEN CHKSUM_TRME_DYN_DAE takes its correct value cf is computed according to [CHK/CPT] and [CAN] ELSE CHKSUM_TRME_DYN_DAE takes a value different of the correct one cf [CHK/CPT] and [CAN] GEN-EPS- TS-RCA. 0057 (2.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_COLONNE has been nominally refreshed ETAT_DAE_CAV3_VIRTUEL VIRTUAL_SWS3_EPS_STATE has been nominally refreshed AND ETAT_SECU_ANGLE_COL has been nominally refreshed THEN CPT_PROCESS_4B_DAE is incremented cf is computed according to [CHK/CPT] and [CAN] ELSE CPT_PROCESS_4B_DAE keeps its value Definitions of directions and signs
  • 32. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 32/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0036 (1.0) IF the steering column, seen from the steering-wheel, turns in trigonometric direction THEN ANGLE_COLONNE increases VITESSE_COLONNE = “positive” ANGLE_VOLANT increases SENS_ROT_VOL = “positive” GEN-EPS- TS-RCA. 0037 (1.0) IF the steering column, seen from the steering-wheel, turns in ante-trigonometric direction THEN ANGLE_COLONNE decreases VITESSE_COLONNE = “negative” ANGLE_VOLANT decreases SENS_ROT_VOL = “negative” Set of the outputs related to “readjusted column angle”
  • 33. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 33/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION Checksum and Process Counter GEN-EPS- TS-RCA. 0039 (2.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_VOLANT is not corrupted THEN CHKSUM_VOL takes its correct value cf is computed according to [CHK/CPT] and [CAN] ELSE CHKSUM_VOL takes a value different of the correct one cf [CHK/CPT] and [CAN] GEN-EPS- TS-RCA. 0040 (2.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_VOLANT has been nominally refreshed THEN CPT_PROCESS_4B_A_VOL is incremented cf is computed according to [CHK/CPT] and [CAN] ELSE CPT_PROCESS_4B_A_VOL keeps its value Offset calibrated through external request (following wheels parallelism adjustment)
  • 34. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 34/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0041 (2.0) RCA_FUNCTION_STATE is “Produce RCA” IF (VITESSE_VEHICULE_ROUE =< VEH_SPD_INIT cf [CAN] OR VITESSE_VEHICULE_ROUE = “invalid”) AND DATA1_VOL = 0101b AND CCW1_VOL_1 = 0011b AND CCW2_VOL = 0b AND DATA2_VOL = 0110000b THEN EFFECTIVE_OFFSET = - ANGLE_COLONNE EFFECTIVE_OFFSET_ACCURACY = EFFECTIVE_OFFSET_ACCURACY_ CALIBRATION_VALUE (typically 2°) CALIBRATION_VOL = “Sensor calibrated” ETAT_DAE_CAV3_VIRTUEL = “EPS works with calibrated offset” RCA_MEMORIZATION_HABILITATION_STATE = “deactivated” IF DATA1_VOL = 0101b AND CCW1_VOL_1 = 0101b AND CCW2_VOL = 0b AND DATA2_VOL = 0110000b THEN EFFECTIVE_OFFSET = “unknown” EFFECTIVE_OFFSET_ACCURACY = “unknown” CALIBRATION_VOL = “Sensor not calibrated” ETAT_DAE_CAV3_VIRTUEL = “offset initialization request” RCA_MEMORIZATION_HABILITATION_STATE = “deactivated” Comment: When the calibration request is received, EFFECTIVE_OFFSET takes the opposite value of the column angle measured at that time. Offset determination by EPS thanks to a steering wheel operation
  • 35. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 35/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0058 (1.0) The EPS implements a process of determination of the column angle which corresponds to the center of the rack. This self-detrmination process uses a travel of the rack, realized by action on the steering wheel, during which the ECU writes the column angles corresponding to characteristic points of the rack position (lock, cam…). The column angles corresponding to characteristic positions and mechanical data of the steering are then used by the ECU to, compute if needed and, write the column angle value corresponding to the rack center. The column angle value corresponding to the rack center is assigned to the auto- determinated offset. Comment: Rack center is assimilated to the straight line center. GEN-EPS- TS-RCA. 0042 (2.0) RCA_FUNCTION_STATE is “Produce RCA” IF EFFECTIVE_OFFSET = “unknown” AND ASSISTANCE_MODE = ON Cf ST [D/A] AND VITESSE_VEHICULE_ROUE is a valid received value AND VITESSE_VEHICULE_ROUE < OFFSET_SELF_DETERMINATION_SPEED_LOW_THRESHOLD (typically 3 km/h) THEN OFFSET_SELF_DETERMINATION _STATE = “activated” IF EFFECTIVE_OFFSET = “known” OR VITESSE_VEHICULE_ROUE is not a valid received value OR VITESSE_VEHICULE_ROUE > OFFSET_SELF_DETERMINATION_SPEED_HIGH_THRESHOLD (typically 5 km/h) THEN OFFSET_SELF_DETERMINATION _STATE = “deactivated” A "valid received value" designates a received value with no failure: neither a frame failure, nor a signal failure associated to this signal. GEN-EPS- TS-RCA. 0043 (1.0) RCA_FUNCTION_STATE is “Produce RCA” AND OFFSET_SELF_DETERMINATION _STATE = “activated” EPS monitors that the operation of self-determination of the offset occurs, if the operation occurs and is achieved, then SELF_DETERMINATION_EFFECTIVE_OFFSET takes the value of the offset determined by the operation.
  • 36. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 36/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0044 (2.0) RCA_FUNCTION_STATE is “Produce RCA” AND OFFSET_SELF_DETERMINATION _STATE = “activated” AND SELF_DETERMINATION_EFFECTIVE_OFFSET <> “unknown” IF VITESSE_VEHICULE_ROUE is a valid received value AND VITESSE_VEHICULE_ROUE < OFFSET_MEMORIZATION_VEHICLE_SPEED_THRESHOLD (typically 3 km/h) AND VITESSE_COLONNE < OFFSET_MEMORIZATION_COLUMN_ROTATION_SPEED_THRESHOLD (typically 3°/s) AND CPLE_VOLANT_OPTMSE < OFFSET_MEMORIZATION_STEERING_WHEEL_TORQUE_THRESHOLD (typically 0.3 N.m) THEN EFFECTIVE_OFFSET = SELF_DETERMINATION_EFFECTIVE_OFFSET EFFECTIVE_OFFSET_ACCURACY = SELF_DETERMINATION_EFFECTIVE_OFFSET_ACCURACY A "valid received value" designates a received value with no failure: neither a frame failure, nor a signal failure associated to this signal. GEN-EPS- TS-RCA. 0045 (1.0) RCA_FUNCTION_STATE is “Produce RCA” IF EFFECTIVE_OFFSET <> “unknown” THEN SELF_DETERMINATION_EFFECTIVE_OFFSET = “unknown” 5.1.1.6.Protocoles de sortie/ Outputs Protocols Identifiant d’exigence / requirement identification Libellé de l’exigence / Description of the requirement Exigence amont / Input requirement GEN-EPS- TS-RCA. 0046 (1.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_COLONNE = measured value THEN VITESSE_ROT_VOL = computed value SENS_ROT_VOL = computed value VITESSE_ROT_VOL_OPTIMISE = computed value ELSE VITESSE_ROT_VOL = “invalide” SENS_ROT_VOL = “positive” VITESSE_ROT_VOL_OPTIMISE = “invalide”
  • 37. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 37/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION GEN-EPS- TS-RCA. 0047 (3.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] IF ANGLE_COLONNE = “invalid” THEN ETAT_CAPT_VOL = “faulty” ELSE ETAT_CAPT_VOL = “operational” GEN-EPS- TS-RCA. 0048 (2.0) ECU STATE is “Running” OR “Comlatch” cf [R/E] CODE_DEFAUT_VOL = “no fault” TRIM_VOL = “trimmed” ANGLE_VOLANT_ORIGINE = “other” CALIBRATION_VOL = “Sensor calibrated” 5.1.2.CAS D’UTILISATION 2/ USE CASE 2 <vide> <empty> 5.2.EXIGENCES DE PERFORMANCE/ PERFORMANCE REQUIREMENTS Identifiant d’exigence / requirement identification Libellé de l’exigence / Description of the requirement Exigence amont / Input requirement GEN-EPS- TS-RCA. 0050 (1.0) The maximum error between the relative column angle (ANGLE_COLONNE) emitted on the network and the angle of the column at the level of the pinion is +/- 2.0°. GEN-EPS- TS-RCA. 0051 (1.0) The maximum error of hysteresis between the relative column angle (ANGLE_COLONNE) emitted on the network and the angle of the column at the level of the pinion is +/- 1.5°. GEN-EPS- TS-RCA. 0052 (2.0) The maximum error of nonlinearity at 3 Sigma between the relative column angle (ANGLE_COLONNE) emitted on the network and the angle of the column at the level of the pinion is +/- 2.5°. GEN-EPS- TS-RCA. 0053 (1.0) The maximum time between the position of the relative column angle and the emission on the network of the related readjusted column angle (ANGLE_VOLANT) is 15 ms.
  • 38. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 38/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.3.EXIGENCES D’INTERFACES EXTERNES/ EXTERNAL INTERFACES REQUIREMENTS 5.3.1.INTERFACES RESEAUX/ NETWORK INTERFACES 5.3.1.1.Diagramme de contexte / Contextual diagram EPS ESC CALIBRATION _VOL Additionner angle colonne relatif et offset / Add relative column angle and offset Estimer l’Offset / Estimate Offset Fournir angle colonne relatif / Provide relative column angle Demander la calibration / Ask for calibration VITESSE_ VEHICULE _ROUES CHKSUM_TRME_DYN_UCF CPT_PROCESS_4B_UCF OFFSET PRECISION_OFFSET ACQ_INTERRUPT_DAE CHKSUM_TRME_DYN_UCF CPT_PROCESS_4B_UCF OFFSET PRECISION_OFFSET ACQ_INTERRUPT_DAE ANGLE_VOLANT VITESSE_ROT_VOL SENS_ROT_VOL CODE_DEFAUT_VOL TRIM_VOL CALIBRATION_VOL ETAT_CAPT_VOL CHKSUM_VOL CPT_PROCESS_4B_A_VOL VITESSE_ROT_VOL_OPTIMISE FLG_INIT_AVOL FLG_AVOL_ICN ANGLE_VOLANT_ORIGINE CHKSUM_TRME_DYN_DAE CPT_PROCESS_4B_DAE ANGLE_COLONNE ETAT_DAE_CAV3_VIRTUEL ETAT_SECU_ANGLE_COL BSI Calibrer offset / Calibrate offset CONFIG_VHL 5.3.1.2.Réception et envoi des trames / Réception and sending frames N° Exigence(v) /Requirement no. (v) Libellé de l’exigence/Description of the requirement Exigence amont(v)/Inpu t requirement (v) GEN-EPS- TS-RCA. 0100 (1.0) Les trames consommées et produites par le système sont décrites de manière exhaustive dans la ST Messagerie de l’organe [CAN]. Le système applique les exigences réseau des ST CAN spécifiées par le CDC logiciel. The frames consumed and produced by the system are described exhaustively in the component's Messaging ST [CAN]. The system applies the requirements network of TS CAN specified by the TS software. 5.3.1.3.Interprétation des données « réseau » / Interpretation of "network" data Cf [CAN] Cf [CAN]
  • 39. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 39/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.3.2.INTERFACES ELECTRIQUES/ ELECTRICAL INTERFACES Non applicable Not applicable 5.3.3.INTERFACES MECANIQUES/ MECHANICAL INTERFACES Non applicable Not applicable 5.3.4.INTERFACES HOMME-MACHINE/ MAN-MACHINE INTERFACES Non applicable Not applicable 5.3.5.AUTRES INTERFACES PHYSIQUES/ OTHER PHYSICAL INTERFACES Non applicable Not applicable
  • 40. Partie DAE - fonction produire l’angle colonne recalé avec un offset estimé et mémorisé EPS part - function produce the readjusted column angle with an estimated and memorized offset REFERENCE IND PROJET/ PROJECT PAGE 01552_15_07461 3.0 generic 40/40 CE DOCUMENT EST LA PROPRIETE DU GROUPE PSA PEUGEOT CITROEN ET NE PEUT ETRE REPRODUIT OU COMMUNIQUE SANS SON AUTORISATION THIS DOCUMENT IS THE PROPERTY OF PSA PEUGEOT CITROEN GROUP AND MAY NOT BE REPRODUCED OR DISCLOSED WITHOUT ITS AUTHORIZATION 5.4.EXIGENCES OPERATIONNELLES/ OPERATIONAL REQUIREMENTS Cf [EPS_TS] Cf [EPS_TS] 5.5.EXIGENCES DE CONTRAINTE/ CONSTRAINT REQUIREMENTS Cf [EPS_TS] Cf [EPS_TS] Identifiant d’exigence / requirement identification Libellé de l’exigence / Description of the requirement Exigence amont / Input requirement GEN-EPS- TS-RCA. 0049 (1.0) Each configurable internal data defined in § 5.1.1.4 can be modified by PSA through the calibration file. 5.6.EXIGENCES D’INTEGRATION ET DE VALIDATION/ INTEGRATION AND VALIDATION REQUIREMENTS <vide> <empty> 6.IDENTIFIANTS DES EXIGENCES SUPPRIMEES / IDENTIFIERS OF THE REMOVED REQUIREMENTS Identifiant d’exigence / requirement identification GEN-EPS-TS-RCA. 0026 GEN-EPS-TS-RCA. 0030 GEN-EPS-TS-RCA. 0032 GEN-EPS-TS-RCA. 0034 GEN-EPS-TS-RCA. 0035 GEN-EPS-TS-RCA. 0041 GEN-EPS-TS-RCA. 0058 GEN-EPS-TS-RCA. 0042 GEN-EPS-TS-RCA. 0043 GEN-EPS-TS-RCA. 0044 GEN-EPS-TS-RCA. 0045