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firestar5683
2026-04-28 18:16:01 -05:00
parent 145f9d2b19
commit 2ed89e4bb7
2 changed files with 17 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+16 -2
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@@ -231,6 +231,12 @@ IONIQ_6_CENTER_TAPER_LAT = 0.13
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
IONIQ_6_CENTER_TAPER_SPEED = 18.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.024
IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.16
IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 9.5
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 14.0
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.0
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
@@ -749,8 +755,16 @@ def get_ioniq_6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
def get_ioniq_6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_CENTER_TAPER_SPEED) / IONIQ_6_CENTER_TAPER_SPEED_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_CENTER_TAPER_LAT_WIDTH)
reduction = IONIQ_6_CENTER_TAPER_MAX * speed_weight * center_weight
return 1.0 - reduction
high_speed_reduction = IONIQ_6_CENTER_TAPER_MAX * speed_weight * center_weight
low_mid_onset = _ioniq_6_sigmoid((v_ego - IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN) / IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH)
low_mid_cutoff = _ioniq_6_sigmoid((IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX - v_ego) / IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH)
low_mid_speed_weight = low_mid_onset * low_mid_cutoff
low_mid_center_weight = _ioniq_6_sigmoid((IONIQ_6_LOW_MID_CENTER_TAPER_LAT - abs(desired_lateral_accel)) /
IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH)
low_mid_reduction = IONIQ_6_LOW_MID_CENTER_TAPER_MAX * low_mid_speed_weight * low_mid_center_weight
return 1.0 - min(high_speed_reduction + low_mid_reduction, 0.12)
def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
selfdrive/controls/tests/test_latcontrol.py
+1
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@@ -250,6 +250,7 @@ class TestLatControl:
def test_ioniq_6_center_taper_curve(self):
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)
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) < 1e-3
def test_kia_ev6_ff_scale_curve(self):