FORD LDM Localization

The static bending light (SBL) will be activated based on steering wheel angle provided by the Signal ‘SteAngle’ and vehicle speed provided by ‘Veh_Speed’ via LIN Command Frame ‘BCM_E_FC2’. SBL activation shall only occur when:
• LIN command 'Autolamp_Rqst’ is set to '0x01'
• LIN command vehicle speed ‘Veh_Speed’ is at or less than the vehicle speed threshold which can be configured by parameter ‘SBL_Max Speed_Thershold_cfg’
• LIN command steering angle ‘SteAngle’ is at or more than the steering angle threshold which can be configured by parameter ‘SBL Trigger_SteAngle_Thershold_cfg’

‘SteAngle’ signal definition:
• Signal Size: 15 Bit
• Resolution: 0.1 degrees
• Raw Data Values: 0-32767
• Logical Calculation for Degree Value: 0.1*(Raw Data)-1600
•
‘Veh_Speed’ signal definition:
• Signal Size: 8 Bit
• Resolution: 1 KPH
• Raw Data Values: 0-255

‘SBL_ Trigger_SteAngle_Thershold_cfg’ parameter definition:
• Range: 0 to 255Deg
• Resolution: 1Deg.

‘SBL_Max_Speed_Thershold_cfg’ parameter definition:
• Range: 0 to 255Kph
• Resolution: 1Kph.

The LDM shall use EEL bus provided steering wheel angle as absolute value. Negative angle is for right LDM and positive angle is for left LDM.
Example:
• EEL bus received steering wheel angle: -40° (Raw Data = 15600 (0x3CF0))
o Right LDM to use received steering wheel angle 40°
o Left LDM to ignore the information

• EEL bus received steering wheel angle: 40° (Raw Data = 16400 (0x4010))
o Left LDM to use received steering wheel angle 40°
o Right LDM to ignore the information

NOTE: The SBL activation and deactivation shall have a hysteresis of vehicle speed and steering angle to avoid the light flash.