dwVehicleIOSafetyCommand Struct Reference
Detailed Description
Safety critical RoV commands.
Expected to be sent from NDAS to Actuation Module. NOTE: This structure will be deprecated in a future release. Please use use dwVehicleIOASILCommand or dwVehicleIOQMCommand instead.
Definition at line 6207 of file VehicleIOValStructures.h.
Collaboration diagram for dwVehicleIOSafetyCommand:
Field Documentation
◆ emAngularAccel
| float32_t dwVehicleIOSafetyCommand::emAngularAccel[3] |
- Note
- ID VS-31040
- description Vehicle angular acceleration aligned to body coordinate frame (X-Y-Z Axis).
- unit rad/s2 [SYS-REQ-25004370]
Definition at line 6503 of file VehicleIOValStructures.h.
◆ emAngularVelocity
| float32_t dwVehicleIOSafetyCommand::emAngularVelocity[3] |
- Note
- ID VS-31030
- description Vehicle angular velocity aligned to body coordinate frame (X-Y-Z Axis).
- unit rad/s [SYS-REQ-25004369]
Definition at line 6497 of file VehicleIOValStructures.h.
◆ emLinearAccel
| float32_t dwVehicleIOSafetyCommand::emLinearAccel[3] |
- Note
- ID VS-31020
- description Vehicle linear velocity aligned to body coordinate frame. Output of a KF filtering wheel odometry (VS-10080, VS-30110, VS-30120, VS-30130, VS-30170), linear accelerometer (VS-90050), angular velocity (VS-90040), angular acceleration (VS-90120), suspension signals (VS-30310), including their corresponding timestamps. Accuracy limited by quality of effective wheel radius calibration. Expect approx. 0.2% error 1σ. Will be validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m/s2 [SYS-REQ-25004368]
Definition at line 6491 of file VehicleIOValStructures.h.
◆ emLinearVelocity
| float32_t dwVehicleIOSafetyCommand::emLinearVelocity[3] |
- Note
- ID VS-31010
- description Vehicle linear velocity aligned to body coordinate frame. Output of a KF filtering wheel odometry (VS-10080, VS-30110, VS-30120, VS-30130, VS-30170), linear accelerometer (VS-90050), angular velocity (VS-90040), angular acceleration (VS-90120), suspension signals (VS-30310), including their corresponding timestamps. Accuracy limited by quality of effective wheel radius calibration. Expect approx. 0.2% error 1σ. Will be validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m/s [SYS-REQ-25004366]
Definition at line 6479 of file VehicleIOValStructures.h.
◆ emLinearVelocityStdev
| float32_t dwVehicleIOSafetyCommand::emLinearVelocityStdev[3] |
- Note
- ID VS-31011
- description Vehicle linear velocity standard deviation aligned to body coordinate frame (X-Y-Z Axis).
- unit m/s [SYS-REQ-25004367]
Definition at line 6485 of file VehicleIOValStructures.h.
◆ emOrientation
| float32_t dwVehicleIOSafetyCommand::emOrientation[3] |
- Note
- ID VS-31110
- description Vehicle orientation (integrated, as Euler angles, since t0). Differently from VS-90020 (which is a signal that can be provided by certain types of IMUs as part of their internal state estimation, and is not used by egomotion), this is an output signal from egomotion estimator. Egomotion outputs the orientation of the vehicle, as NDAS “rig” coordinate frame, relative to a local horizontal, local vertical coordinate frame. Validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases A Kalman filter and integrator combine information from wheel odometry (incl. steering), suspension and IMU into a 6 degrees of freedom motion estimation, also known as dead reckoning. The orientation representation in VS-31110 uses the DriveWorks Euler angle convention, described as: - One rotation is applied about each of the axes (use of a Tait-Bryan convention) - The order of the rotations is either of (both are equivalent): – z-y’-x’’: (1) yaw about original fixed z axis, (2) pitch about interim rotated y axis, (3) roll about interim rotated x axis – x-y-z: (1) roll about fixed x axis, (2) pitch about fixed y axis, (3) yaw about fixed z axis All coordinate frames are right-handed.
- unit rad [SYS-REQ-25004371]
Definition at line 6509 of file VehicleIOValStructures.h.
◆ emOrientationStdev
| float32_t dwVehicleIOSafetyCommand::emOrientationStdev[3] |
- Note
- ID VS-31111
- description Vehicle orientation standard deviation (for each Euler angle) (X-Y-Z Axis).
- unit rad [SYS-REQ-25004372]
Definition at line 6515 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationLower
| float32_t dwVehicleIOSafetyCommand::emQualityAngularAccelerationLower[3] |
- Note
- ID VS-31041
- description Egomotion angular acceleration lower error bound [X, Y, Z].
- unit rad/s2 [SYS-REQ-27417280]
Definition at line 6656 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityAngularAccelerationStatus[3] |
- Note
- ID VS-31043
- description Egomotion angular acceleration status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417286]
Definition at line 6668 of file VehicleIOValStructures.h.
◆ emQualityAngularAccelerationUpper
| float32_t dwVehicleIOSafetyCommand::emQualityAngularAccelerationUpper[3] |
- Note
- ID VS-31042
- description Egomotion angular acceleration upper error bound [X, Y, Z].
- unit rad/s2 [SYS-REQ-27417284]
Definition at line 6662 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityLower
| float32_t dwVehicleIOSafetyCommand::emQualityAngularVelocityLower[3] |
- Note
- ID VS-31031
- description Egomotion angular velocity lower error bound [X, Y, Z].
- unit rad/s [SYS-REQ-27417274]
Definition at line 6638 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityAngularVelocityStatus[3] |
- Note
- ID VS-31033
- description Egomotion angular velocity status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417279]
Definition at line 6650 of file VehicleIOValStructures.h.
◆ emQualityAngularVelocityUpper
| float32_t dwVehicleIOSafetyCommand::emQualityAngularVelocityUpper[3] |
- Note
- ID VS-31032
- description Egomotion angular velocity upper error bound [X, Y, Z].
- unit rad/s [SYS-REQ-27417276]
Definition at line 6644 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationLower
| float32_t dwVehicleIOSafetyCommand::emQualityLinearAccelerationLower[3] |
- Note
- ID VS-31021
- description Egomotion acceleration lower error bound [X, Y, Z].
- unit m/s2 [SYS-REQ-27417262]
Definition at line 6620 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityLinearAccelerationStatus[3] |
- Note
- ID VS-31023
- description Egomotion acceleration status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417271]
Definition at line 6632 of file VehicleIOValStructures.h.
◆ emQualityLinearAccelerationUpper
| float32_t dwVehicleIOSafetyCommand::emQualityLinearAccelerationUpper[3] |
- Note
- ID VS-31022
- description Egomotion acceleration upper error bound [X, Y, Z].
- unit m/s2 [SYS-REQ-27417265]
Definition at line 6626 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityLower
| float32_t dwVehicleIOSafetyCommand::emQualityLinearVelocityLower[3] |
- Note
- ID VS-31012
- description Egomotion velocities lower error bound [X, Y, Z].
- unit m/s [SYS-REQ-27417226]
Definition at line 6602 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityLinearVelocityStatus[3] |
- Note
- ID VS-31014
- description Egomotion velocities status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417261]
Definition at line 6614 of file VehicleIOValStructures.h.
◆ emQualityLinearVelocityUpper
| float32_t dwVehicleIOSafetyCommand::emQualityLinearVelocityUpper[3] |
- Note
- ID VS-31013
- description Egomotion velocities upper error bound [X, Y, Z].
- unit m/s [SYS-REQ-27417228]
Definition at line 6608 of file VehicleIOValStructures.h.
◆ emQualityOrientationLower
| float32_t dwVehicleIOSafetyCommand::emQualityOrientationLower[3] |
- Note
- ID VS-31112
- description Egomotion orientation lower error bound [X, Y, Z].
- unit rad [SYS-REQ-27417288]
Definition at line 6674 of file VehicleIOValStructures.h.
◆ emQualityOrientationStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityOrientationStatus[3] |
- Note
- ID VS-31114
- description Egomotion orientation status level integrity [X, Y, Z].
- unit unitless [SYS-REQ-27417290]
Definition at line 6686 of file VehicleIOValStructures.h.
◆ emQualityOrientationUpper
| float32_t dwVehicleIOSafetyCommand::emQualityOrientationUpper[3] |
- Note
- ID VS-31113
- description Egomotion orientation upper error bound [X, Y, Z].
- unit rad [SYS-REQ-27417289]
Definition at line 6680 of file VehicleIOValStructures.h.
◆ emQualityTranslationLower
| float32_t dwVehicleIOSafetyCommand::emQualityTranslationLower[3] |
- Note
- ID VS-31121
- description Egomotion translation lower error bound [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit m
Definition at line 6692 of file VehicleIOValStructures.h.
◆ emQualityTranslationStatus
| dwVioEmIntegrity dwVehicleIOSafetyCommand::emQualityTranslationStatus[3] |
- Note
- ID VS-31123
- description Egomotion translation status level integrity [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit unitless [SYS-REQ-27417296]
Definition at line 6705 of file VehicleIOValStructures.h.
◆ emQualityTranslationUpper
| float32_t dwVehicleIOSafetyCommand::emQualityTranslationUpper[3] |
- Note
- ID VS-31122
- description Egomotion translation upper error bound [X, Y, Z].
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit m
Definition at line 6698 of file VehicleIOValStructures.h.
◆ emSensorPosition
| float32_t dwVehicleIOSafetyCommand::emSensorPosition[3] |
- Note
- ID VS-31141
- description Egomotion Position of "virtual" sensor.
- unit m [SYS-REQ-25004376]
Definition at line 6539 of file VehicleIOValStructures.h.
◆ emStandStillWheelBased
| dwVioEmStandStillWheelBased dwVehicleIOSafetyCommand::emStandStillWheelBased |
- Note
- ID VS-31142
- description Egomotion standstill detected based on wheel ticks.
- unit unitless [SYS-REQ-25004377]
Definition at line 6545 of file VehicleIOValStructures.h.
◆ emStatus
| dwVioEmStatus dwVehicleIOSafetyCommand::emStatus |
- Note
- ID VS-31140
- description Validity of egomotion signals.
- unit unitless [SYS-REQ-25004375]
Definition at line 6533 of file VehicleIOValStructures.h.
◆ emTimestamp
| dwTime_t dwVehicleIOSafetyCommand::emTimestamp |
- Note
- ID VS-31130
- description Timestamp of egomotion signals.
- unit us [SYS-REQ-25004374]
Definition at line 6527 of file VehicleIOValStructures.h.
◆ emTranslation
| float64_t dwVehicleIOSafetyCommand::emTranslation[3] |
- Note
- ID VS-31120
- description Vehicle translation (integrated, since t0). The translation representation in VS-31120 is the position of the vehicle in the local horizontal, local vertical coordinate frame defined at t=0. As egomotion is a dead reckoning solution, the position values should only be used and compared in a local sense; the motion of the vehicle between two points nearby in time (order: a couple seconds, tens of seconds, depending on the application and accuracy requirements). Egomotion will drift and interpreting the position signal as an absolute signal in a fixed coordinate frame will lead to incorrect use. Egomotion is not localization. Localization will provide an absolute position in a global coordinate system (e.g. WGS-84). Validated against a reference INS solution (e.g. Novatel dGPS) on a selection of maneuvers representative of use cases.
- unit m [SYS-REQ-25004373]
Definition at line 6521 of file VehicleIOValStructures.h.
◆ latCtrlActivationRequest
| uint8_t dwVehicleIOSafetyCommand::latCtrlActivationRequest |
- Note
- ID VS-17000
- description Activation request of lateral control.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-25477176]
- Deprecated:
- REL_23_12 - dwVehicleIOASILCommand::latCtrlActivationRequest & dwVehicleIOSafetyCommand::latCtrlActivationRequest are deprecated. latCtrlModeRequest should be used instead of latCtrlActivationRequest. Previously these were set together but latCtrlActivationRequest is redundant and latCtrlModeRequest as IDLE is equivalent to latCtrlActivationRequest false and latCtrlModeRequest in any other state is equivalent to latCtrlActivationRequest True.
Definition at line 6418 of file VehicleIOValStructures.h.
◆ latCtrlASILStatus
| dwVioLatCtrlASILStatus dwVehicleIOSafetyCommand::latCtrlASILStatus |
- Note
- ID VS-11136
- description ASIL Status of control input.
- unit unitless [SYS-REQ-24973883]
- Deprecated:
- REL_23_12 - dwVehicleIOQMCommand::latCtrlASILStatus & dwVehicleIOSafetyCommand::latCtrlASILStatus are deprecated, either Gain latCtrlC0SteeringGradientGain(Lt/Rt) should be used instead of latCtrlASILStatus. the gain signals are used to describe how much
Definition at line 6275 of file VehicleIOValStructures.h.
◆ latCtrlBpReadyForClosedLoop
| uint8_t dwVehicleIOSafetyCommand::latCtrlBpReadyForClosedLoop |
- Note
- ID VS-10075
- description BP is ready in context of cooperative steering.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24973876]
Definition at line 6230 of file VehicleIOValStructures.h.
◆ latCtrlC0SteeringGradientGainLt
| float32_t dwVehicleIOSafetyCommand::latCtrlC0SteeringGradientGainLt |
- Note
- ID VS-11164
- description FuSa left steering gradient limitation (related to C0). Used to limit the steering capability based on the scenario. Default value: 1.
- min 0 max 1
- unit unitless [SYS-REQ-25526590]
Definition at line 6576 of file VehicleIOValStructures.h.
◆ latCtrlC0SteeringGradientGainRt
| float32_t dwVehicleIOSafetyCommand::latCtrlC0SteeringGradientGainRt |
- Note
- ID VS-11165
- description FuSa right steering gradient limitation (related to C0). Used to limit the steering capability based on the scenario. Default value: 1.
- min 0 max 1
- unit unitless [SYS-REQ-25526591]
Definition at line 6583 of file VehicleIOValStructures.h.
◆ latCtrlCrossTrackError
| float32_t dwVehicleIOSafetyCommand::latCtrlCrossTrackError |
- Note
- ID VS-10071
- description Used for debugging controller integration.
- unit m [SYS-REQ-24973875]
Definition at line 6222 of file VehicleIOValStructures.h.
◆ latCtrlCurvReqAdditional
| float32_t dwVehicleIOSafetyCommand::latCtrlCurvReqAdditional |
- Note
- ID VS-11325
- description Effective secondary curvature request. Curvature for the secondary means of actuation (e.g. differential braking).
- min -1.0737 max 1.0737
- unit 1/m [SYS-REQ-24973896]
Definition at line 6392 of file VehicleIOValStructures.h.
◆ latCtrlCurvReqAdditionalActive
| uint8_t dwVehicleIOSafetyCommand::latCtrlCurvReqAdditionalActive |
- Note
- ID VS-11326
- description This signal describes whether a secondary curvature request is requested.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24973897]
Definition at line 6400 of file VehicleIOValStructures.h.
◆ latCtrlCurvReqAdditionalPrefill
| uint8_t dwVehicleIOSafetyCommand::latCtrlCurvReqAdditionalPrefill |
- Note
- ID VS-11327
- description If the secondary control is a braking interface, this requests to pre-fill the braking system for shorter response.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24973898]
Definition at line 6408 of file VehicleIOValStructures.h.
◆ latCtrlCurvReqPred
| float32_t dwVehicleIOSafetyCommand::latCtrlCurvReqPred |
- Note
- ID VS-11320
- description The target curvature without feedback compensation. Can be used to represent the target curvature also at some brief period in the future.
- min -1.0737 max 1.0737
- unit 1/m [SYS-REQ-24973895]
Definition at line 6385 of file VehicleIOValStructures.h.
◆ latCtrlCurvRequest
| float32_t dwVehicleIOSafetyCommand::latCtrlCurvRequest |
- Note
- ID VS-11130
- description Effective curvature request (in code rearAxleCurvatureValue). RearAxle is the reference point.
- min -1.0737 max 1.0737
- unit 1/m [SYS-REQ-24973881]
Definition at line 6261 of file VehicleIOValStructures.h.
◆ latCtrlESCtrlStateRequest
| dwVioLatCtrlESCtrlStateRequest dwVehicleIOSafetyCommand::latCtrlESCtrlStateRequest |
- Note
- ID VS-11120
- description Emergency Steering(ESS, AES) interface prepare request.
- unit unitless [SYS-REQ-25644537]
Definition at line 6563 of file VehicleIOValStructures.h.
◆ latCtrlFrontWheelAngleRequest
| float32_t dwVehicleIOSafetyCommand::latCtrlFrontWheelAngleRequest |
- Note
- ID VS-11140
- description Effective front steering angle request, used for parking control.
- min -1.4297 max 1.4297
- unit rad [SYS-REQ-27317022]
Definition at line 6282 of file VehicleIOValStructures.h.
◆ latCtrlHapticWarningRequest
| uint8_t dwVehicleIOSafetyCommand::latCtrlHapticWarningRequest |
- Note
- ID VS-17111
- description triggers a haptic warning, e.g. in the steering wheel or seat.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-25533520]
Definition at line 6462 of file VehicleIOValStructures.h.
◆ latCtrlInterventionDirectionELK
| dwVioLatCtrlInterventionDirectionELK dwVehicleIOSafetyCommand::latCtrlInterventionDirectionELK |
- Note
- ID VS-11151
- description direction of the steering intervention, opposite to side of departure.
- unit unitless [SYS-REQ-24973888]
Definition at line 6306 of file VehicleIOValStructures.h.
◆ latCtrlInterventionDirectionLKA
| dwVioLatCtrlInterventionDirectionLKA dwVehicleIOSafetyCommand::latCtrlInterventionDirectionLKA |
- Note
- ID VS-11150
- description direction of the steering intervention, opposite to side of departure.
- unit unitless [SYS-REQ-24973887]
Definition at line 6300 of file VehicleIOValStructures.h.
◆ latCtrlLaneChangePushingLaterally
| uint8_t dwVehicleIOSafetyCommand::latCtrlLaneChangePushingLaterally |
- Note
- ID VS-11152
- description This bit is set if lateral movement has started.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24973889]
Definition at line 6314 of file VehicleIOValStructures.h.
◆ latCtrlModeRequest
| dwVioLatCtrlModeRequest dwVehicleIOSafetyCommand::latCtrlModeRequest |
- Note
- ID VS-17110
- description requested mode for the lateral control interface.
- unit unitless [SYS-REQ-24973901]
Definition at line 6453 of file VehicleIOValStructures.h.
◆ latCtrlRearWheelAngleRequest
| float32_t dwVehicleIOSafetyCommand::latCtrlRearWheelAngleRequest |
- Note
- ID VS-11170
- description Effective rear steering angle request, for low speed maneuvering.
- min -0.3573 max 0.3573
- unit rad [SYS-REQ-24973894]
Definition at line 6321 of file VehicleIOValStructures.h.
◆ latCtrlReferenceInputSelect
| dwVioLatCtrlReferenceInputSelect dwVehicleIOSafetyCommand::latCtrlReferenceInputSelect |
- Note
- ID VS-11131
- description Select what lateral control interface is active (curvature for L2 and above, front wheel angle or front and rear wheel angle for Parking).
- unit unitless [SYS-REQ-25533520]
Definition at line 6267 of file VehicleIOValStructures.h.
◆ latCtrlSteeringWheelAngleRateMax
| float32_t dwVehicleIOSafetyCommand::latCtrlSteeringWheelAngleRateMax |
- Note
- ID VS-11146
- description Rate Limit for Steering Wheel Angle Request.
- unit rad [SYS-REQ-25533520]
Definition at line 6294 of file VehicleIOValStructures.h.
◆ latCtrlSteeringWheelAngleRequest
| float32_t dwVehicleIOSafetyCommand::latCtrlSteeringWheelAngleRequest |
- Note
- ID VS-11145
- description Steering Wheel Angle Request.
- unit rad [SYS-REQ-25533520]
Definition at line 6288 of file VehicleIOValStructures.h.
◆ lonCtrlSafetyLimRequest
| dwVioLonCtrlSafetyLimRequest dwVehicleIOSafetyCommand::lonCtrlSafetyLimRequest |
- Note
- ID VS-17120
- description Longitudinal Mode Request for functions that have medium safety requirements on activation Request for Longitudinal interface to go into one of the following modes: manual/human driving, active safety, L1/L2, parking.
- unit unitless [SYS-REQ-24974821]
Definition at line 6468 of file VehicleIOValStructures.h.
◆ longCtrlAccelPerfRequest
| dwVioLongCtrlAccelPerfRequest dwVehicleIOSafetyCommand::longCtrlAccelPerfRequest |
- Note
- ID VS-17011
- description Request for precision or "slack" allowed for control to choose optimal strategy vs. high accuracy.
- unit unitless [SYS-REQ-24974817]
Definition at line 6447 of file VehicleIOValStructures.h.
◆ longCtrlAccelRequest
| float32_t dwVehicleIOSafetyCommand::longCtrlAccelRequest |
- Note
- ID VS-11230
- description Time derivative of longitudinal velocity request.
- min -40 max 25
- unit m/s2 [SYS-REQ-24974805]
Definition at line 6357 of file VehicleIOValStructures.h.
◆ longCtrlActivationRequest
| uint8_t dwVehicleIOSafetyCommand::longCtrlActivationRequest |
- Note
- ID VS-17002
- description Activation request of longitudinal control.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24974811]
- Deprecated:
- REL_23_12 - dwVehicleIOASILCommand::longCtrlActivationRequest & dwVehicleIOSafetyCommand::longCtrlActivationRequest are deprecated. longCtrlFunctionReq should be used instead of longCtrlActivationRequest. Previously these were set together but longCtrlActivationRequest is redundant and longCtrlFunctionReq as any state except IDLE is equivalent to longCtrlActivationRequest as true.
Definition at line 6428 of file VehicleIOValStructures.h.
◆ longCtrlBrakePedalRequest
| float32_t dwVehicleIOSafetyCommand::longCtrlBrakePedalRequest |
- Note
- ID VS-11246
- description legacy control signal.
- min 0 max 1
- unit unitless [SYS-REQ-24974807]
Definition at line 6371 of file VehicleIOValStructures.h.
◆ longCtrlBrakePrefillRequest
| uint8_t dwVehicleIOSafetyCommand::longCtrlBrakePrefillRequest |
- Note
- ID VS-11110
- description brake pressure prefill charge request.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-25477888]
Definition at line 6238 of file VehicleIOValStructures.h.
◆ longCtrlDrivePositionCommand
| dwVioLongCtrlDrivePositionCommand dwVehicleIOSafetyCommand::longCtrlDrivePositionCommand |
- Note
- ID VS-11200
- description Requested vehicle gear.
- unit unitless [SYS-REQ-24974800]
Definition at line 6327 of file VehicleIOValStructures.h.
◆ longCtrlFunctionReq
| dwVioLongCtrlFunctionReq dwVehicleIOSafetyCommand::longCtrlFunctionReq |
- Note
- ID VS-17180
- description Unified Longitudinal Mode Request.
- unit unitless [SYS-REQ-25760580]
Definition at line 6569 of file VehicleIOValStructures.h.
◆ longCtrlHapticWarningRequest
| uint8_t dwVehicleIOSafetyCommand::longCtrlHapticWarningRequest |
- Note
- ID VS-11111
- description e.g. reversible pre-tension of seat belt or brake jolt.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1}
- Deprecated:
- REL_23_02 - dwVehicleIOSafetyCommand::longCtrlHapticWarningRequest is deprecated. longCtrlHapticWarningRequest exists only for binary layout compatibility.
Definition at line 6247 of file VehicleIOValStructures.h.
◆ longCtrlHapticWarningTargetType
| dwVioLongCtrlHapticWarningTargetType dwVehicleIOSafetyCommand::longCtrlHapticWarningTargetType |
- Note
- ID VS-11112
- description multi stage signal used when the haptic warning is a seat belt pre-tensioner.
- unit unitless
- Deprecated:
- REL_23_02 - dwVehicleIOSafetyCommand::longCtrlHapticWarningTargetType is deprecated. longCtrlHapticWarningTargetType exists only for binary layout compatibility.
Definition at line 6254 of file VehicleIOValStructures.h.
◆ longCtrlInteractionModeRequest
| dwVioLongCtrlInteractionModeRequest dwVehicleIOSafetyCommand::longCtrlInteractionModeRequest |
- Note
- ID VS-17003
- description Signalizes requested behaviour for driver interaction.
- unit unitless [SYS-REQ-24974812]
Definition at line 6434 of file VehicleIOValStructures.h.
◆ longCtrlMaxSpeedRequest
| float32_t dwVehicleIOSafetyCommand::longCtrlMaxSpeedRequest |
- Note
- ID VS-11260
- description Maximum speed the vehice can travel in while using distance2stop request. .
- min 0 max 5
- unit m/s [SYS-REQ-24974808]
Definition at line 6378 of file VehicleIOValStructures.h.
◆ longCtrlRedundCheckRequest
| uint8_t dwVehicleIOSafetyCommand::longCtrlRedundCheckRequest |
- Note
- ID VS-11221
- description signal for remote parking to check for redundancy.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24974802]
- Deprecated:
- REL_23_06 - dwVehicleIOSafetyCommand::longCtrlRedundCheckRequest is deprecated. longCtrlRedundCheckRequest exists only for binary layout compatibility.
Definition at line 6344 of file VehicleIOValStructures.h.
◆ longCtrlReferenceInputRequest
| dwVioLongCtrlReferenceInputRequest dwVehicleIOSafetyCommand::longCtrlReferenceInputRequest |
- Note
- ID VS-11224
- description Signalizes which reference input (acceleration, remaining distance, velocity) should be used.
- unit unitless [SYS-REQ-24974804]
Definition at line 6350 of file VehicleIOValStructures.h.
◆ longCtrlRemainingDistance
| float32_t dwVehicleIOSafetyCommand::longCtrlRemainingDistance |
- Note
- ID VS-11220
- description Remaining distance the vehicle can travel before stopping. Applicable forward and in reverse directions. Combined with max speed request.
- min 0 max 10.08
- unit m [SYS-REQ-24974801]
Definition at line 6334 of file VehicleIOValStructures.h.
◆ longCtrlSecureRequest
| uint8_t dwVehicleIOSafetyCommand::longCtrlSecureRequest |
- Note
- ID VS-17005
- description Signalizes request for StillStand Coordination. Vehicle will be secured with parking brake and P-lock. True to request secure state.
- unit unitless
- bool type (please use bool relevant functions)
- *** valid values**: {0, 1} [SYS-REQ-24974813]
Definition at line 6591 of file VehicleIOValStructures.h.
◆ longCtrlSecureRequestRemoved
| dwVioLongCtrlSecureRequestRemoved dwVehicleIOSafetyCommand::longCtrlSecureRequestRemoved |
- Note
- ID VS-17004
- description Signalizes request for StillStand Coordination. Vehicle will be secured with parking brake and P-lock.
- unit unitless
- Deprecated:
- REL_23_06 - dwVehicleIOSafetyCommand::longCtrlSecureRequestRemoved is deprecated. Use the boolean version of longCtrlSecureRequest instead. longCtrlSecureRequestRemoved exists only for binary layout compatibility.
Definition at line 6441 of file VehicleIOValStructures.h.
◆ longCtrlThrottlePedalRequest
| float32_t dwVehicleIOSafetyCommand::longCtrlThrottlePedalRequest |
- Note
- ID VS-11245
- description legacy control signal.
- min 0 max 1
- unit unitless [SYS-REQ-24974806]
Definition at line 6364 of file VehicleIOValStructures.h.
◆ sequenceId
| uint32_t dwVehicleIOSafetyCommand::sequenceId |
- Note
- ID VS-10072
- description Unique Sequence ID assigned by the producer of this structure.
- unit -
Definition at line 6596 of file VehicleIOValStructures.h.
◆ size
| uint32_t dwVehicleIOSafetyCommand::size |
- Note
- ID VS-10000
- description User need to set size = sizeof(itself).
- unit nan
Definition at line 6216 of file VehicleIOValStructures.h.
◆ timestamp_us
| dwTime_t dwVehicleIOSafetyCommand::timestamp_us |
- Note
- ID VS-17510
- description ASILCommand Timestamp.
- unit us in all contexts except when timestampUsFormat field in this structure is equal to dwVioTimestampFormat::DW_VIO_TIMESTAMP_FORMAT_PTP16 in which case the smallest unit is 100us.
Definition at line 6473 of file VehicleIOValStructures.h.
◆ timestampUsFormat
| dwVioTimestampFormat dwVehicleIOSafetyCommand::timestampUsFormat |
- Note
- ID VS-21170
- description Format of the timestamp_us field in the current structure.
- FUTURE_IMPLEMENTED_POST_24_06 - This signal is not implemented and is effectively ignored by NDAS. It will be implemented in a future release. Implementation tracking ticket [DWVAL-3070]
- unit unitless
Definition at line 6711 of file VehicleIOValStructures.h.
◆ turnSignalRequest
| dwVioTurnSignalRequest dwVehicleIOSafetyCommand::turnSignalRequest |
- Note
- ID VS-11310
- description request of turn indicators.
- unit unitless [SYS-REQ-25004425]
Definition at line 6551 of file VehicleIOValStructures.h.
◆ turnSignalRequestType
| dwVioTurnSignalRequestType dwVehicleIOSafetyCommand::turnSignalRequestType |
- Note
- ID VS-11311
- description Lane Change Type (SILC or DILC). if it is NONE then thats a system error. .
- unit unitless [SYS-REQ-25004426]
Definition at line 6557 of file VehicleIOValStructures.h.
◆ validityInfo
| dwVehicleIOSafetyCommandValidityInfo dwVehicleIOSafetyCommand::validityInfo |
validity info of VehicleIOSafetyCommand fields [SYS-REQ-26614800]
Definition at line 6211 of file VehicleIOValStructures.h.
The documentation for this struct was generated from the following file: