PLATE 4765837 - Caterpillar

PCT Will Stop for Various Things
When PCT stops for either an obstacle or a site awareness object, it will inform the operator on the screen. Operator acknowledgment is not needed.When PCT stops and fails for an obstacle, it should inform the operator that it is stopped for an obstacle. PCT will create a regulation. The ground crew can now attempt to remove the obstacle. It is recommended that an obstacle be removed following site safety procedures. Once clear, the operator can click "Acknowledge" so that PCT can remove the regulation and attempt the assignment again. PCT will abort after ten retries.When PCT stops for position uncertainty or narrow roads, it will inform the operator on screen. Operator acknowledgment is not needed.When PCT stops for a regulation other than PCT's own regulations, it will inform the operator on screen. Operator acknowledgment is not needed.Failure Messages
The Planning Checkout Task will display a failure message during the tests if a parameter failed to meet desired thresholds. The failure message will correspond to one of the systems tested, and will describe what steps to take next. At minimum it will indicate to the operator to check the calibration for the specific group tested, as well as related groups.Brake Latency
PCT will check to ensure that the brake latency error is within range, otherwise it will report the following information:
Failure: Brakes actuated too early (if error value is large negative value)
Failure: Brakes actuated too late (if error value is large positive value) Brake Map
PCT will check to ensure that the brake map ratio is within range, otherwise it will report the following information:
Failure: Brakes do not actuate as hard as normal (if error value is too small)
Failure: Brakes actuate harder than normal (if error value is too large) Command Speed
PCT will check to ensure that the commanded speed is less than the road speed limit, otherwise it will report the following information:
Failure: Commanded speed is too large. Command to State-Feedback Curvature Map
PCT will check to ensure that the command to state-feedback curvature map error is within range, otherwise it will report the following information:
Failure: Steering predictions from commanded to state-feedback steering does not fit modelDrive Wear Metric
PCT will check to ensure that the drive wear metric error is within range, otherwise it will report the following information:
Failure: Vehicle changed speed more than desired.Maximum Curvature
PCT will check to ensure that the maximum curvature error is within range, otherwise it will report the following information:
Failure: Steering cannot reach maximum (left-most) curvatureMaximum Deceleration
PCT will check to ensure that the maximum deceleration error is within range, otherwise it will report the following information:
Failure: Brakes cannot stop vehicle as fast as possible (if error value is large negative value)
Failure: Brakes can stop vehicle too fast (if error value is large positive value)Maximum Slew Rate
PCT will check to ensure that the maximum slew rate error is within range, otherwise it will report the following information:
Failure: Steering cannot steer vehicle as fast as possible (if error value is large negative value)
Failure: