Document ID: chunk:federal_register_of_legislation:F2021C00434:body:0:p36
Version: federal_register_of_legislation:F2021C00434
Segment Type: other
Provision Reference: 
Character Range: 104150–107150

Verify that the ESC malfunction indicator illuminates in accordance with paragraph 3.4. by the end of these manoeuvres.

       5.10.3. Stop the vehicle, switch the ignition locking system to the "Off" or "Lock" position.  After a five-minute period, switch the vehicle's ignition locking system to the "Start" position and start the engine.  Verify that the ESC malfunction indicator again illuminates to signal a malfunction and remains illuminated as long as the engine is running or until the fault is corrected.

       5.10.4. Switch the ignition locking system to the "Off" or "Lock" position.  Restore the ESC system to normal operation, switch the ignition system to the "Start" position and start the engine.  Re-perform the manoeuvre described in paragraph 5.10.2. and verify that the tell-tale has extinguished within this time or immediately afterwards.

       5.11. Post data processing – calculations for performance metrics

        Yaw rate and lateral displacement measurements and calculations shall be processed utilizing the techniques specified in paragraphs 5.11.1. to 5.11.8.

       5.11.1. Raw steering wheel angle data is filtered with a 12-pole phaseless Butterworth filter and a cut-off frequency of 10 Hz.  The filtered data is then zeroed to remove sensor offset utilizing static pre-test data.

       5.11.2. Raw yaw rate data is filtered with a 12-pole phaseless Butterworth filter and a cut-off frequency of 6 Hz.  The filtered data is then zeroed to remove sensor offset utilizing static pre-test data.

       5.11.3. Raw lateral acceleration data is filtered with a 12-pole phaseless Butterworth filter and a cut-off frequency of 6 Hz.  The filtered data is then zeroed to remove sensor offset utilizing static pre-test data.  The lateral acceleration data at the vehicle centre of gravity is determined by removing the effects caused by vehicle body roll and by correcting for sensor placement via the use of coordinate transformation.  For data collection, the lateral accelerometer shall be located as close as possible to the position of the vehicle's longitudinal and lateral centres of gravity.

       5.11.4. Steering wheel velocity is determined by differentiating the filtered steering wheel angle data.  The steering wheel velocity data is then filtered with a moving 0.1 second running average filter.

       5.11.5. Lateral acceleration, yaw rate and steering wheel angle data channels are zeroed utilizing a defined "zeroing range."  The methods used to establish the zeroing range are defined in paragraphs 5.11.5.1. and 5.11.5.2.

       5.11.5.1. Using the steering wheel rate data calculated using the methods described in paragraph 5.11.4., the first instant that the steering wheel rate exceeds 75 deg/sec is identified.  From this point, steering wheel rate shall remain greater than 75 deg/sec for at least 200 ms.  If the second condition is not met, the next instant that the steering wheel rate exceeds 75 deg/sec is identified and the