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firestar5683
2026-05-02 12:20:57 -05:00
parent 0f5ab2f6f6
commit 1a016da5fa
2 changed files with 13 additions and 12 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+12 -11
View File
@@ -211,21 +211,21 @@ IONIQ_6_FF_CUTOFF = 0.48
IONIQ_6_FF_CUTOFF_WIDTH = 0.12
IONIQ_6_TRANSITION_SPEED = 10.0
IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 0.88
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.92
IONIQ_6_TURN_IN_BOOST_LEFT = 0.96
IONIQ_6_TURN_IN_BOOST_RIGHT = 1.00
IONIQ_6_UNWIND_TAPER_LEFT = 1.52
IONIQ_6_UNWIND_TAPER_RIGHT = 2.92
IONIQ_6_FRICTION_MULT = 0.995
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.25
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.36
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.40
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.22
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.12
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.19
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.22
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 2.70
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.29
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.40
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.60
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.50
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.14
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.22
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.38
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.00
IONIQ_6_CENTER_TAPER_MAX = 0.046
IONIQ_6_CENTER_TAPER_LAT = 0.18
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
@@ -780,7 +780,8 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
reduction = band_weight * (base_reduction + unwind_reduction * unwind_weight)
return max(1.0 - reduction, 0.56)
floor = 0.56 - (0.06 * unwind_weight)
return max(1.0 - reduction, floor)
def get_ioniq_6_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -275,7 +275,7 @@ class TestLatControl:
assert get_ioniq_6_center_taper_scale(0.0, 10.0) < get_ioniq_6_center_taper_scale(0.0, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1.2e-2
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1.3e-2
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0