Alerts
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| Signal Name | Description | Condition | Impact |
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The electric power assist steering (EPAS) Electronic Control Unit (ECU) is not receiving the wheel rotation message, resulting in a reduced amount of steering assist to preserve vehicle stability.
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The electric power assist steering (EPAS) Electronic Control Unit (ECU) does not receive the wheel rotation message.
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The power steering is operational but the level of assist is decreased and External Angle Controller is inhibited.
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The electric power assist steering (EPAS) Electronic Control Unit (ECU) is not receiving the wheel speeds message, resulting in a reduced amount of steering assist to preserve vehicle stability.
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The electric power assist steering (EPAS) Electronic Control Unit (ECU) does not receive the wheel speeds message.
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The power steering is operational but the level of assist is decreased.
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The Electronic Power Assist Steering (EPAS) electronic control unit (ECU) detects that the controller area network (CAN) bus is off.
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The Electronic Power Assist Steering (EPAS) ECU detects that the CAN transmit error counter is above 255.
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Steering assist may be reduced or may not function as expected. Since External Angle Control (EAC) requests may be rejected, Autopilot features may be unavailable or may not function as expected.
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Estimated motor parameters exceed expected values
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if Ke < 24.6 or > 25.6mV/(rad/s), Ke=25.1mV/(rad/s)
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Leads to Torque Ripple
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Motor control feed-forward correlation error
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| estimated torque (back calculated from PWM duty & observer) - Command torque | > 1.2Nm
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Reduced steering assist and EAC inhibited
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Vehicle speed estimation correlation error
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|ESP_Vehicle speed - DI_axleSpeed*.12384| > 3KPH + 0.1*ESP_Vehicle speed
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Reduced assist
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Hands-on detection controller correlation error
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HOD level in path1 is not the same as path2
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EAC inhibited
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External angle controller correlation error
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|torque command path1 - path2| > 0.1Nm
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EAC inhibited
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Hysteresis controller correlation error
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|torque command path1 - path2| > 0.6Nm
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Reduced steering assist
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Yaw damping controller correlation error
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|torque command path1 - path2| > 10A (0.6Nm)
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Reduced steering assist
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Active return controller correlation error
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Active return controller correlation error
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Reduced steering assist
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Target torque correlation error
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|torque command path1 - path2| > 0.6Nm
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Reduced steering assist
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Phase compensation correlation error
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|torque command path1 - path2| > 0.6Nm
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Reduced steering assist
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Damping controller correlation error
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|torque command path1 - path2| > 0.6Nm
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Reduced steering assist
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Assist controller correlation error
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|torque command path1 - path2| > 0.6Nm
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Reduced steering assist
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Gate drive bridge undervoltage
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Vbridge < 8V
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EAC inhibited
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Difference between battery and bridge voltage exceeds threshold
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|Vbat - Vbridge| > 2V
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Reduced steering assist and EAC inhibited
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Assist redcued due to supply overvoltage
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Assist reduced due to supply overvoltage
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Reduced assist and EAC inhibited
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Assist disabled due to supply overvoltage
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Battery > 18V
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Reduced assist and EAC inhibited
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Assist reduced due to supply undervoltage
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Battery < 10V
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EAC inhibited
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