ActivePull - Rev 8 |
|
| I | O | M | D | N |
Variable Information |
|
| Y | N |
|
|
|
|
|
|
|
|
|
|
| Range |
|
|
|
|
|
|
|
|
|
|
|
|
Software Variable Name | Standard Reference Name | FDD Reference | Description | [I]nput
[O]uput
[M]oduleInternal
[D]isplay
[N]onVolatileMemory
Usage | OEM | 1X, 1Y, 1Z, 1I, 1BS
2X, 2Y, 2Z, 2I, 2BS
etc
Graph Settings | Initalization Value | Min | Max | Resolution | Unit Test Tolerance (+/-) | Units | Type | Memory Segment |
|
|
|
|
|
|
|
Variables |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
HwTorque_HwNm_f32 | Hw_Torque |
| Handwheel torque measured input, Nm | I | N |
| 0 | -10 | 10 | Single Precision Float |
| HwNm | float32 |
|
|
|
|
|
|
|
|
HandwheelPosition_HwDeg_f32 | Handwheel_Position |
| Absolute handwheel position, HwDeg | I | N |
| 0 | -1440.11 | 1440.11 | Single Precision Float |
| HwDeg | float32 |
|
|
|
|
|
|
|
|
HandwheelAuthority_Uls_f32 | Handwheel_Authority |
| Authority signal for handwheel position, value of 0 to 1, 1= full authority | I | N |
| 0 | 0 | 1 | Single Precision Float |
| Unitless | float32 |
|
|
|
|
|
|
|
|
VehicleSpeed_Kph_f32 | Vehicle_Speed |
| Vehicle speed from serial communications bus, Kph | I | N | 1I | 0 | 0 | 511 | Single Precision Float |
| Kph | float32 |
|
|
|
|
|
|
|
|
VehicleSpeedValid_Cnt_lgc | Vehicle_Speed_Valid |
| Validity signal for vehicle speed, to determine if we are operating at default vehicle speed | I | N |
| 0 | 0 | 1 | n/a |
| Counts | boolean |
|
|
|
|
|
|
|
|
HandwheelVelocity_HwRadpS_f32 | Handwheel_Velocity |
| Handwheel velocity signal, handwheel degrees per second | I | N |
| 0 | -32 | 32 | Single Precision Float |
| HwRadpS | float32 |
|
|
|
|
|
|
|
|
SrlComYawRate_DegpS_f32 | SrlCom_YawRate |
| Yaw Rate signal from vehicle yaw rate sensor or inertial measurement unit. Lat Accel could be used instead if desired. | I | N |
| 0 | -128 | 127.9375 | Single Precision Float |
| DegpS | float32 |
|
|
|
|
|
|
|
|
VehicleSpeedRate_KphpS_f32 | Vehicle_Speed_Rate |
| Rate of change of vehicle speed, Kph per second | I | N |
| 0 | 0 | 100 | Single Precision Float |
| KphpS | float32 |
|
|
|
|
|
|
|
|
DisableLearning_Cnt_lgc | PlCmp_DisableLearning |
| Signal to temporarily disable the pull comp learning, without resetting learned compensation values or changing output | I | N |
| 0 | 0 | 1 | n/a |
| Counts | boolean |
|
|
|
|
|
|
|
|
DisableOutput_Cnt_lgc | PlCmp_DisableOutput |
| Signal to temporarily disable the pull comp output, without resetting learned compensation values or stopping the algorithm from learning if learning is otherwise enabled | I | N |
| 0 | 0 | 1 | n/a |
| Counts | boolean |
|
|
|
|
|
|
|
|
PullCompCmd_MtrNm_f32 | PullComp_Cmd | SF13 ActivePullCompensation | Compensation command in MtrNm | O | N |
| 0 | -8.8 | 8.8 | Single Precision Float | 4.88E-04 | MtrNm | float32 |
|
|
|
|
|
|
|
|
DecGain_Uls_M_f32 | Dec_Gain | SF13 ActivePullCompensation |
| M | N |
| 0 | 0.0000135 | 0.00054 | Single Precision Float | 1.49E-08 | Unitless | float32 |
|
|
|
|
|
|
|
|
IncGain_Uls_M_f32 | Inc_Gain | SF13 ActivePullCompensation |
| M | N |
| 0 | 0.0000135 | 0.00054 | Single Precision Float | 1.49E-08 | Unitless | float32 |
|
|
|
|
|
|
|
|
LTIntGain_Uls_M_f32 | LT_Int_Gain | SF13 ActivePullCompensation |
| M | N |
| 0 | 0.00001875 | 0.00045 | Single Precision Float | 7.45E-09 | Unitless | float32 |
|
|
|
|
|
|
|
|
LTWindUpLimit_HwNm_M_f32 | Pos_WindUpLimit | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 4 | Single Precision Float | 1.22E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
STStepSize_HwNm_M_f32 | step size | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 20000 | Single Precision Float | 5.00E-01 | HwNm | float32 |
|
|
|
|
|
|
|
|
PullCompStepSize_HwNm_M_f32 | Slew Rate | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 0.2 | Single Precision Float | 3.81E-06 | HwNm | float32 |
|
|
|
|
|
|
|
|
ResetPer1_Cnt_M_lgc | Reset_Svc | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
ResetPer2_Cnt_M_lgc | Reset_Svc | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
ResetPer3_Cnt_M_lgc | Reset_Svc | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
EnableTime_mS_M_u32 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 4294967295 | 1 | 1.00E+00 | mS | uint32 |
|
|
|
|
|
|
|
|
EnableLearn_Cnt_M_lgc | PlCmp_EnableLearn | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
STComp_HwNm_M_f32 | ST_Comp | SF13 ActivePullCompensation |
| M | N |
| 0 | -4 | 4 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
STOppSignTime_mS_M_u32 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 4294967295 | 1 | 1.00E+00 | mS | uint32 |
|
|
|
|
|
|
|
|
PullCompCmd_HwNm_M_f32 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | -8.8 | 8.8 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
LTComp_HwNm_M_f32 | LT_Comp | SF13 ActivePullCompensation |
| M | N |
| 0 | -4 | 4 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
SComLTComp_HwNm_M_f32 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | -4 | 4 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
SComLTCompSet_Cnt_M_lgc | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
SComSTComp_HwNm_M_f32 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | -4 | 4 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
SComSTCompSet_Cnt_M_lgc | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
PrevLTLearnTime_Min_M_u16 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 120 | 1 | 1.00E+00 | Min | uint16 |
|
|
|
|
|
|
|
|
PrevSTLearnTimeInc_Sec_M_u12p4 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 200 | 6.25E-02 | 6.25E-02 | Sec | u12p4 |
|
|
|
|
|
|
|
|
PrevSTLearnTimeDec_Sec_M_u12p4 | n/a | SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 200 | 6.25E-02 | 6.25E-02 | Sec | u12p4 |
|
|
|
|
|
|
|
|
HwTrqFilt_HwNm_D_f32 | PlCmp_HwTrqFilt | SF13 ActivePullCompensation |
| D | N |
| 0 | -10 | 10 | Single Precision Float | n/a | HwNm | float32 |
|
|
|
|
|
|
|
|
YawRateFilt_DegpS_D_f32 | PlCmp_YawRateFilt | SF13 ActivePullCompensation |
| D | N |
| 0 | -128 | 127.9375 | Single Precision Float | n/a | DegpS | float32 |
|
|
|
|
|
|
|
|
STError_HwNm_D_f32 | PlCmp_ST_Error | SF13 ActivePullCompensation |
| D | N |
| 0 | -10 | 10 | Single Precision Float | n/a | HwNm | float32 |
|
|
|
|
|
|
|
|
STIntGain_Uls_D_f32 | PlCmp_ST_IntGain | SF13 ActivePullCompensation |
| D | N |
| 0 | 0.0000135 | 0.00054 | Single Precision Float | n/a | Unitless | float32 |
|
|
|
|
|
|
|
|
STReset_Cnt_D_lgc | PlCmp_ST_Reset | SF13 ActivePullCompensation |
| D | N |
| 0 | 0 | 1 | n/a | n/a | Counts | boolean |
|
|
|
|
|
|
|
|
LTError_HwNm_D_f32 | PlCmp_LT_Error | SF13 ActivePullCompensation |
| D | N |
| 0 | -14 | 14 | Single Precision Float | n/a | HwNm | float32 |
|
|
|
|
|
|
|
|
PrevVehSpd_Kph_M_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | 0 | 511 | Single Precision Float | n/a | Kph | float32 |
|
|
|
|
|
|
|
|
VehSpdRate_KphpS_M_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | -5110 | 5110 | Single Precision Float | n/a | KphpS | float32 |
|
|
|
|
|
|
|
|
HwTorqueSV_HwNm_M_Str |
| SF13 ActivePullCompensation |
| M | N |
|
|
|
|
|
|
| LPF32KSV_Str | CLEARED_UNSPECIFIED |
|
|
|
|
|
|
|
HwTorqueSV_HwNm_M_Str.K_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0.222232320828211 | 0.001255848 | 0.715390457 | Single Precision Float | 1.26E-03 | Hz | float32 |
|
|
|
|
|
|
|
|
HwTorqueSV_HwNm_M_Str.SV_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | -10 | 10 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
HwTorqueSTSV_HwNm_M_Str |
| SF13 ActivePullCompensation |
| M | N |
|
|
|
|
|
|
| LPF32KSV_Str | CLEARED_UNSPECIFIED |
|
|
|
|
|
|
|
HwTorqueSTSV_HwNm_M_Str.K_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0.00626348737522176 | 0.001255848 | 0.715390457 | Single Precision Float | 1.26E-04 | Hz | float32 |
|
|
|
|
|
|
|
|
HwTorqueSTSV_HwNm_M_Str.SV_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | -10 | 10 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
HwTorqueLTSV_HwNm_M_Str |
| SF13 ActivePullCompensation |
| M | N |
|
|
|
|
|
|
| LPF32KSV_Str | CLEARED_UNSPECIFIED |
|
|
|
|
|
|
|
HwTorqueLTSV_HwNm_M_Str.K_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0.269597308951354 | 0.006263487 | 1 | Single Precision Float | 6.26E-03 | Hz | float32 |
|
|
|
|
|
|
|
|
HwTorqueLTSV_HwNm_M_Str.SV_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | -14 | 14 | Single Precision Float | 4.88E-04 | HwNm | float32 |
|
|
|
|
|
|
|
|
SrlComYawRateSV_DegpS_M_Str |
| SF13 ActivePullCompensation |
| M | N |
|
|
|
|
|
|
| LPF32KSV_Str | CLEARED_UNSPECIFIED |
|
|
|
|
|
|
|
SrlComYawRateSV_DegpS_M_Str.K_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0.0369973466030251 | 0.001255848 | 0.715390457 | Single Precision Float | 1.26E-03 | Hz | float32 |
|
|
|
|
|
|
|
|
SrlComYawRateSV_DegpS_M_Str.SV_Uls_f32 |
| SF13 ActivePullCompensation |
| M | N |
| 0 | -128 | 127.9375 | Single Precision Float | 3.91E-03 | DegpS | float32 |
|
|
|
|
|
|
|
|
ActivePull - Rev 8 |
|
|
| N |
Calibration Information | Achieved in Software Design |
|
|
|
| Y |
|
|
|
|
|
|
|
| Range |
|
|
|
|
|
| P |
Software Calibration Name | Standard Reference Name | FDD Reference | Description | Tuning Set | OEM | 1X, 1Y, 1Z, 1I, 1BS
2X, 2Y, 2Z, 2I, 2BS
etc
Graph Settings | Default Value | Min | Max | Units | Type | Memory Segment |
|
|
|
|
Calibrations |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
k_YawRateFilt_Hz_f32 | PlCmp_k_YawRateFilt_Hz | SF13 ActivePullCompensation | Filter Frequency for Yaw Rate signal | Y | N |
| 0.0369973466030251 | 0.00125584782371357 | 0.715390456663971 | Hz | float32 |
|
|
|
|
|
k_HwTrqFilt_Hz_f32 | PlCmp_k_HwTrqFilt_Hz | SF13 ActivePullCompensation | Filter Frequency for Handwheel Torque signal | Y | N |
| 0.222232320828211 | 0.00125584782371357 | 0.715390456663971 | Hz | float32 |
|
|
|
|
|
k_STResetHwTrq_HwNm_f32 | PlCmp_k_STResetHwTrq_HwNm | SF13 ActivePullCompensation | Hw Torque Limit at which the short term compensation will reset to zero | Y | N |
| 3 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_STResetHwPos_HwDeg_f32 | PlCmp_k_STResetHwPos_HwDeg | SF13 ActivePullCompensation | Hw Position Limit at which the short term compensation will reset to zero | Y | N |
| 45 | 0 | 900 | HwDeg | float32 |
|
|
|
|
|
k_STResetYawRate_DegpS_f32 | PlCmp_k_STResetYawRate_DegpS | SF13 ActivePullCompensation | Yaw Rate Limit at which the short term compensation will reset to zero | Y | N |
| 1 | 0 | 360 | DegpS | float32 |
|
|
|
|
|
k_EnableHwTrqMax_HwNm_f32 | PlCmp_k_EnableHwTrqMax_HwNm | SF13 ActivePullCompensation | Maximum Hw Torque allowed for learning to be enabled | Y | N |
| 2.8 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_EnableHwPosMax_HwDeg_f32 | PlCmp_k_EnableHwPosMax_HwDeg | SF13 ActivePullCompensation | Maximum Hw Position allowed for learning to be enabled | Y | N |
| 45 | 0 | 900 | HwDeg | float32 |
|
|
|
|
|
k_EnableHwAuthMin_Uls_f32 | PlCmp_k_EnableHwAuthMin_Uls | SF13 ActivePullCompensation | Minimum Hw Authority allowed for learning to be enabled | Y | N |
| 1 | 0 | 1 | Unitless | float32 |
|
|
|
|
|
k_EnableHwVelMax_DegpS_f32 | PlCmp_k_EnableHwVelMax_DegpS | SF13 ActivePullCompensation | Maximum Hw Velocity allowed for learning to be enabled | Y | N |
| 10 | 0 | 1500 | DegpS | float32 |
|
|
|
|
|
k_EnableVehSpdRateMax_KphpS_f32 | PlCmp_k_EnableVehSpdRateMax_KphpS | SF13 ActivePullCompensation | Maximum Vehicle Speed rate of change allowed for learning to be enabled | Y | N |
| 1 | 0 | 100 | KphpS | float32 |
|
|
|
|
|
k_EnableVehSpdMin_Kph_f32 | PlCmp_k_EnableVehSpdMin_Kph | SF13 ActivePullCompensation | Minimum Vehicle Speed allowed for learning to be enabled | Y | N |
| 60 | 0 | 255 | Kph | float32 |
|
|
|
|
|
k_EnableVehSpdMax_Kph_f32 | PlCmp_k_EnableVehSpdMax_Kph | SF13 ActivePullCompensation | Maximum Vehicle Speed allowed for learning to be enabled | Y | N |
| 160 | 0 | 255 | Kph | float32 |
|
|
|
|
|
k_EnableYawRateMax_DegpS_f32 | PlCmp_k_EnableYawRateMax_DegpS | SF13 ActivePullCompensation | Maximum Yaw Rate allowed for learning to be enabled | Y | N |
| 1 | 0 | 360 | DegpS | float32 |
|
|
|
|
|
k_EnableTime_mS_u32 | PlCmp_k_EnableTime_S | SF13 ActivePullCompensation | Time for which all of the enable criteria must be valid before learning will be enabled | Y | N |
| 2000 | 0 | 60000 | mS | uint32 |
|
|
|
|
|
k_STLimit_HwNm_f32 | PlCmp_k_STLimit_HwNm | SF13 ActivePullCompensation | Maximum allowed short term compensation | Y | N |
| 1 | 0 | 4 | HwNm | float32 |
|
|
|
|
|
k_STLearnTimeInc_Sec_f32 | PlCmp_k_STLearnTimeInc_S | SF13 ActivePullCompensation | Time to learn approximately 75% of a pull, in normal condition (increasing short term) | Y | N |
| 45 | 5 | 200 | S | float32 |
|
|
|
|
|
k_STLearnTimeDec_Sec_f32 | PlCmp_k_STLearnTimeDec_S | SF13 ActivePullCompensation | Time to learn approximately 75% of a pull, in condition where short term is opposing the driver (decreasing short term). This would normally be a shorter time than the STLearnTimeInc, to reduce the amount of time that the pull comp command opposes the driver. | Y | N |
| 45 | 5 | 200 | S | float32 |
|
|
|
|
|
k_STOppSignTime_mS_u32 | PlCmp_k_STOppSignTime_S | SF13 ActivePullCompensation | Time the driver must be opposing the short term compensation before the system will switch to the STLearnTimeDec learning rate. | Y | N |
| 100 | 0 | 30000 | mS | uint32 |
|
|
|
|
|
k_STRampTime_Sec_f32 | PlCmp_k_STRampTime_S | SF13 ActivePullCompensation | Time over which the short term compensation will ramp down to zero in the event of a short term reset | Y | N |
| 1 | 0.1 | 30 | S | float32 |
|
|
|
|
|
k_STIntInputLimit_HwNm_f32 | PlCmp_k_STIntInputLimit_HwNm | SF13 ActivePullCompensation | Value to limit the input to the short term integrator. Reduces the learning rate for higher handwheel torque inputs. | Y | N |
| 3 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_STFilt_Hz_f32 | PlCmp_k_STFilt_Hz | SF13 ActivePullCompensation | Filter on handwheel torque input to the Short Term Integrator | Y | N |
| 0.00626348737522176 | 0.000125655810790826 | 0.715390456663971 | Hz | float32 |
|
|
|
|
|
k_FiltDeadband_HwNm_f32 | PlCmp_k_FiltDeadband_HwNm | SF13 ActivePullCompensation | Deadband on input to both short and long term integrator. When hw torque is below this value, the integrator will not learn any additional compensation | Y | N |
| 0.25 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_LTLimit_HwNm_f32 | PlCmp_k_LTLimit_HwNm | SF13 ActivePullCompensation | Maximum allowed long term compensation | Y | N |
| 0.5 | 0 | 4 | HwNm | float32 |
|
|
|
|
|
k_LTLearnTime_Min_f32 | PlCmp_k_LTLearnTime_Min | SF13 ActivePullCompensation | Time to learn approximately 75% of a pull into long term compensation | Y | N |
| 45 | 5 | 120 | Min | float32 |
|
|
|
|
|
k_LTFilt_Hz_f32 | PlCmp_k_LTFilt_Hz | SF13 ActivePullCompensation | Filter on handwheel torque input to the Long Term Integrator | Y | N |
| 0.269597308951354 | 0.00626348737522176 | 1 | Hz | float32 |
|
|
|
|
|
k_LTIntInputLimit_HwNm_f32 | PlCmp_k_LTIntInputLimit_HwNm | SF13 ActivePullCompensation | Value to limit the input to the long term integrator. Reduces the learning rate for higher handwheel torque inputs. | Y | N |
| 3 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_TotalLimit_HwNm_f32 | PlCmp_k_TotalLimit_HwNm | SF13 ActivePullCompensation | Value to limit the total output of pull comp. | Y | N |
| 1 | 0 | 10 | HwNm | float32 |
|
|
|
|
|
k_HwNmToMtrNm_Uls_f32 | PlCmp_k_HwNmToMtrNm_MtrNmpHwNm | SF13 ActivePullCompensation | Scale factor used to convert the compensation command from handwheel torque to motor torque. | Y | N |
| 0.04 | 0.03 | 0.06 | Unitless | float32 |
|
|
|
|
|
t_VehSpdScaleTblX_Kph_u9p7[4] | PlCmp_t_VehSpdScale | SF13 ActivePullCompensation | Table to scale Pull Comp command with vehicle speed | Y | N | 1X | {0, 30, 60, 90} | 0 | 255 | Kph | u9p7_T |
|
|
|
|
|
t_VehSpdScaleTblY_Uls_u2p14[4] | PlCmp_t_VehSpdScale | SF13 ActivePullCompensation | Table to scale Pull Comp command with vehicle speed | Y | N | 1Y | {0, 0.25, 1, 1} | 0 | 1 | Unitless | u2p14_T |
|
|
|
|
|
k_OutputMaxRate_HwNmpS_f32 | PlCmp_k_OutputMaxRate_HwNmpS | SF13 ActivePullCompensation | Rate limiter on output of function, to eliminate sudden change in output | Y | N |
| 100 | 0 | 100 | HwNmpS | float32 |
|
|
|
|
|