FORD LDM Localization

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’

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.