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This commit is contained in:
firestar5683
2026-06-01 00:10:14 -05:00
parent 594f525c0c
commit 6dc473713c
2 changed files with 14 additions and 14 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+11 -11
View File
@@ -362,23 +362,23 @@ IONIQ_5_FF_CUTOFF_WIDTH = 0.30
IONIQ_5_TRANSITION_SPEED = 11.0
IONIQ_5_PHASE_SCALE = 0.10
IONIQ_5_FF_REDUCTION_LEFT = 0.12
IONIQ_5_FF_REDUCTION_RIGHT = 0.20
IONIQ_5_TURN_IN_BOOST_LEFT = 0.08
IONIQ_5_FF_REDUCTION_RIGHT = 0.22
IONIQ_5_TURN_IN_BOOST_LEFT = 0.11
IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
IONIQ_5_UNWIND_TAPER_LEFT = 0.60
IONIQ_5_UNWIND_TAPER_RIGHT = 0.72
IONIQ_5_UNWIND_TAPER_LEFT = 0.68
IONIQ_5_UNWIND_TAPER_RIGHT = 0.64
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.30
IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.32
IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
IONIQ_5_CENTER_TAPER_MAX = 0.10
IONIQ_5_CENTER_TAPER_LAT = 0.14
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.30
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_5_CENTER_TAPER_MAX = 0.12
IONIQ_5_CENTER_TAPER_LAT = 0.13
IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_5_CENTER_TAPER_SPEED = 18.0
IONIQ_5_CENTER_TAPER_SPEED = 16.5
IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
selfdrive/controls/tests/test_latcontrol.py
+3 -3
View File
@@ -354,7 +354,7 @@ class TestLatControl:
assert turn_in_left > steady_left
assert turn_in_right >= steady_right
assert unwind_left < steady_left
assert unwind_right < unwind_left
assert unwind_right > unwind_left
def test_ioniq_5_friction_curves(self):
base = get_friction_threshold(12.0)
@@ -365,7 +365,7 @@ class TestLatControl:
assert turn_in_left_threshold < base
assert turn_in_right_threshold == pytest.approx(base)
assert unwind_left_threshold > base
assert unwind_right_threshold > unwind_left_threshold
assert unwind_right_threshold < unwind_left_threshold
turn_in_left_scale = get_ioniq_5_friction_scale(12.0, 0.7, 0.8)
turn_in_right_scale = get_ioniq_5_friction_scale(12.0, -0.7, -0.8)
@@ -374,7 +374,7 @@ class TestLatControl:
assert turn_in_left_scale > 1.0
assert turn_in_right_scale == pytest.approx(1.0)
assert unwind_left_scale < 1.0
assert unwind_right_scale <= unwind_left_scale
assert unwind_right_scale > unwind_left_scale
def test_ioniq_5_center_taper_curve(self):
assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)