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firestar5683
2026-05-25 00:48:20 -05:00
parent 0cb613b6ce
commit 73cbee1b85
2 changed files with 51 additions and 17 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+31 -17
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@@ -244,10 +244,10 @@ VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.04
SONATA_HYBRID_FF_REDUCTION_LEFT = 0.07
SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.22
SONATA_HYBRID_FF_ONSET = 0.22
SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09
SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.24
SONATA_HYBRID_FF_ONSET = 0.18
SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
SONATA_HYBRID_FF_CUTOFF = 1.35
SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40
@@ -257,15 +257,15 @@ SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.12
SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.00
SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.18
SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.10
SONATA_HYBRID_CENTER_TAPER_MAX = 0.05
SONATA_HYBRID_CENTER_TAPER_LAT = 0.14
SONATA_HYBRID_CENTER_TAPER_MAX = 0.07
SONATA_HYBRID_CENTER_TAPER_LAT = 0.16
SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025
SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0
SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.12
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.09
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.14
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.10
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 6.0
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.5
SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0
ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02
@@ -439,7 +439,7 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
KIA_EV6_FF_GAIN_LEFT = 0.07
KIA_EV6_FF_GAIN_RIGHT = 0.10
KIA_EV6_FF_GAIN_RIGHT = 0.085
KIA_EV6_FF_ONSET = 0.08
KIA_EV6_FF_ONSET_WIDTH = 0.04
KIA_EV6_FF_CUTOFF = 0.60
@@ -448,19 +448,24 @@ KIA_EV6_TRANSITION_SPEED = 11.0
KIA_EV6_PHASE_SCALE = 0.09
KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.22
KIA_EV6_UNWIND_TAPER_LEFT = 0.26
KIA_EV6_UNWIND_TAPER_RIGHT = 0.34
KIA_EV6_UNWIND_TAPER_LEFT = 0.34
KIA_EV6_UNWIND_TAPER_RIGHT = 0.44
KIA_EV6_FRICTION_MULT = 1.01
KIA_EV6_FRICTION_LAT_RISE = 0.18
KIA_EV6_FRICTION_JERK_RISE = 0.22
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.15
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
KIA_EV6_CENTER_TAPER_MAX = 0.08
KIA_EV6_CENTER_TAPER_LAT = 0.16
KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
KIA_EV6_CENTER_TAPER_SPEED = 18.0
KIA_EV6_CENTER_TAPER_SPEED_WIDTH = 3.0
VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
VOLT_PLEXY_FF_GAIN_LEFT = 0.12
@@ -1454,6 +1459,13 @@ def get_kia_ev6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
return min(max(friction_scale, 0.90), 1.10)
def get_kia_ev6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _kia_ev6_sigmoid((v_ego - KIA_EV6_CENTER_TAPER_SPEED) / KIA_EV6_CENTER_TAPER_SPEED_WIDTH)
center_weight = _kia_ev6_sigmoid((KIA_EV6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_EV6_CENTER_TAPER_LAT_WIDTH)
reduction = KIA_EV6_CENTER_TAPER_MAX * speed_weight * center_weight
return 1.0 - reduction
def volt_plexy_lateral_testing_ground_active() -> bool:
return testing_ground.use(VOLT_PLEXY_LATERAL_TESTING_GROUND_ID)
@@ -1692,6 +1704,7 @@ class LatControlTorque(LatControl):
ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
civic_bosch_modified_a_center_taper = get_civic_bosch_modified_a_center_taper_scale(setpoint, CS.vEgo) if (
self.is_civic_bosch_modified and civic_bosch_modified_a_lateral_testing_ground_active()
) else 1.0
@@ -1732,9 +1745,10 @@ class LatControlTorque(LatControl):
elif kia_forte_active:
ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
elif kia_ev6_test_active:
ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
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)
friction_scale = get_kia_ev6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * kia_ev6_center_taper)
elif volt_plexy_test_active:
ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
selfdrive/controls/tests/test_latcontrol.py
+20
View File
@@ -53,6 +53,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_ioniq_6_friction_threshold,
get_kia_forte_center_taper_scale,
get_kia_forte_ff_scale,
get_kia_ev6_center_taper_scale,
get_kia_ev6_ff_scale,
get_kia_ev6_friction_scale,
get_kia_ev6_friction_threshold,
@@ -688,6 +689,25 @@ class TestLatControl:
assert lac_log.active
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
steady_left = get_kia_ev6_ff_scale(0.45, 0.0, 25.0)
steady_right = get_kia_ev6_ff_scale(-0.45, 0.0, 25.0)
turn_in_left = get_kia_ev6_ff_scale(0.45, 0.7, 10.0)
turn_in_right = get_kia_ev6_ff_scale(-0.45, -0.7, 10.0)
unwind_left = get_kia_ev6_ff_scale(0.45, -0.7, 10.0)
unwind_right = get_kia_ev6_ff_scale(-0.45, 0.7, 10.0)
assert steady_left > 1.0
assert steady_right > steady_left
assert turn_in_left > steady_left
assert turn_in_right > steady_right
assert unwind_left < steady_left
assert unwind_right < steady_right
def test_kia_ev6_center_taper_curve(self):
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.0, 10.0)
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.20, 25.0) <= 1.0
def test_volt_plexy_testing_ground_update_path(self, monkeypatch):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_VOLT_CC)
monkeypatch.setattr(latcontrol_torque, "volt_plexy_lateral_testing_ground_active", lambda: True)