APP_w041 — Autopilot Rate Saturated

Full alert identifier: APP_w041_autopilotRateSaturated

Message shown in the car

Autosteer limited Steering rate saturated

Alert description

The Autopilot electronic control unit (ECU) has detected that the steering angle rate requested by the Autopilot system is greater than the maximum allowed steering wheel angle rate. This may occur when driving at high speeds on roads with steep curves. Autopilot functionality will be temporarily limited.

Potential impact

The User Interface (UI) will notify the driver of a temporary reduction in Autopilot functionality, and Autopilot functionality will be limited.

Set condition

While Autosteer is activated, this alert is active if the vehicle's current steering angle rate is greater than the maximum road wheel angle rate over the last 250 milliseconds.

Clear condition

The alert will clear when Autosteer is disengaged.

Signals to check

Open this alert in Service Mode Plus and review the Payload tab. Use the field names below to identify the values shown by your vehicle.

Signal	Unit
Ego Speed `APP_sw041_ego_speed`	m/s
Max Rate `APP_sw041_max_rate`	deg/s
Rate `APP_sw041_rate`	deg/s

Signal	Unit
Unused W 2 `APP_sw041_unusedW2`	—

Check other alerts

With Service Mode Plus enabled, open Service Alerts → All. Review the other alerts for clues to the cause of APP_w041.