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firestar5683
2026-06-10 19:01:20 -05:00
parent eaf5d44037
commit 56989a164e
5 changed files with 33 additions and 13 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+2 -2
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@@ -63,8 +63,8 @@ NON_LINEAR_TORQUE_PARAMS = {
"right": [3.8, 0.81, 0.24, 0.0465122],
},
CAR.CADILLAC_XT4: {
"left": [3.6, 0.85, 0.28, 0.0],
"right": [3.6, 0.85, 0.28, 0.0],
"left": [2.4, 0.95, 0.28, 0.0],
"right": [2.4, 0.95, 0.28, 0.0],
},
CAR.CHEVROLET_VOLT: {
"left": [1.5, 1.0, 0.155, 0.0],
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+3 -2
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@@ -260,8 +260,9 @@ class TestGMInterface:
linear_low_torque = low_lataccel / car_params.lateralTuning.torque.latAccelFactor
linear_high_torque = high_lataccel / car_params.lateralTuning.torque.latAccelFactor
assert low_torque > linear_low_torque * 1.35
assert high_torque == pytest.approx(linear_high_torque, rel=0.02)
assert low_torque > linear_low_torque * 1.15
assert low_torque < linear_low_torque * 1.30
assert high_torque == pytest.approx(linear_high_torque, rel=0.03)
assert torque_from_lataccel(-low_lataccel, car_params.lateralTuning.torque) == pytest.approx(-low_torque, rel=1e-6)
selfdrive/car/card.py
+1 -1
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@@ -31,7 +31,7 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
REPLAY = "REPLAY" in os.environ
OPENPILOT_LEAD_MIN_DISTANCE = 0.1
REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
REDNECK_AUTO_BUTTON_FILTER_FRAMES = int(0.3 / DT_CTRL)
REDNECK_AUTO_BUTTON_FILTER_FRAMES = int(0.12 / DT_CTRL)
EventName = log.OnroadEvent.EventName
selfdrive/car/redneck_cruise.py
+3 -3
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@@ -10,9 +10,9 @@ SEND_BUTTON_INCREASE = 1
SEND_BUTTON_DECREASE = 2
HYST_GAP = 0.0
INCREASE_INACTIVE_TIMER = 0.4
DECREASE_INACTIVE_TIMER = 0.1
LEAD_INCREASE_INACTIVE_TIMER = 0.1
INCREASE_INACTIVE_TIMER = 0.12
DECREASE_INACTIVE_TIMER = 0.05
LEAD_INCREASE_INACTIVE_TIMER = 0.05
LEAD_RECOVERY_LOOKAHEAD_POINTS = 4
LEAD_COAST_BUFFER_MS = 1.0 * CV.MPH_TO_MS
selfdrive/controls/lib/latcontrol_torque.py
+24 -5
View File
@@ -143,6 +143,8 @@ KIA_EV6_CARS = (
)
KIA_FORTE_CARS = (
HYUNDAI_CAR.KIA_FORTE,
HYUNDAI_CAR.KIA_FORTE_2019_NON_SCC,
HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC,
)
PRIUS_CARS = (
TOYOTA_CAR.TOYOTA_PRIUS,
@@ -334,11 +336,18 @@ KIA_FORTE_CRAWL_TURN_IN_FF_SPEED = 4.5
KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.8
KIA_FORTE_CRAWL_TURN_IN_FF_LAT = 0.10
KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.05
KIA_FORTE_CENTER_TAPER_MAX = 0.14
KIA_FORTE_CENTER_TAPER_LAT = 0.16
KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
KIA_FORTE_CENTER_TAPER_SPEED = 24.0
KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
KIA_FORTE_CENTER_TAPER_MAX = 0.18
KIA_FORTE_CENTER_TAPER_LAT = 0.18
KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.04
KIA_FORTE_CENTER_TAPER_SPEED = 22.5
KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 3.0
KIA_FORTE_FRICTION_CENTER_LAT = 0.18
KIA_FORTE_FRICTION_CENTER_LAT_WIDTH = 0.04
KIA_FORTE_FRICTION_SPEED = 24.0
KIA_FORTE_FRICTION_SPEED_WIDTH = 3.0
KIA_FORTE_FRICTION_CALM_JERK = 0.24
KIA_FORTE_FRICTION_CALM_JERK_WIDTH = 0.08
KIA_FORTE_FRICTION_THRESHOLD_GAIN = 0.18
PALISADE_BASE_LAT_ACCEL_FACTOR_MULT = 0.98
PALISADE_FF_GAIN_LEFT = 0.14
@@ -1315,6 +1324,15 @@ def get_kia_forte_center_taper_scale(desired_lateral_accel: float, v_ego: float)
return 1.0 - reduction
def get_kia_forte_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
base_threshold = get_friction_threshold(v_ego)
speed_weight = _kia_forte_sigmoid((v_ego - KIA_FORTE_FRICTION_SPEED) / KIA_FORTE_FRICTION_SPEED_WIDTH)
center_weight = _kia_forte_sigmoid((KIA_FORTE_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / KIA_FORTE_FRICTION_CENTER_LAT_WIDTH)
calm_jerk_weight = _kia_forte_sigmoid((KIA_FORTE_FRICTION_CALM_JERK - abs(desired_lateral_jerk)) / KIA_FORTE_FRICTION_CALM_JERK_WIDTH)
threshold_scale = 1.0 + (KIA_FORTE_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight * calm_jerk_weight)
return base_threshold * min(max(threshold_scale, 1.0), 1.18)
def _palisade_sigmoid(x: float) -> float:
return _sigmoid(x)
@@ -2094,6 +2112,7 @@ class LatControlTorque(LatControl):
ff *= get_elantra_non_scc_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif kia_forte_active:
ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
friction_threshold = get_kia_forte_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
elif kia_ev6_test_active:
ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_ev6_center_taper
friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)