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firestar5683
2026-04-28 18:08:41 -05:00
parent 52071db172
commit 94c71b8b20
2 changed files with 24 additions and 23 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+22 -22
View File
@@ -203,45 +203,45 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
IONIQ_6_FF_GAIN_LEFT = 0.050
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.52
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 = 0.52
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.36
IONIQ_6_UNWIND_TAPER_LEFT = 0.82
IONIQ_6_UNWIND_TAPER_RIGHT = 1.52
IONIQ_6_TURN_IN_BOOST_LEFT = 0.58
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.42
IONIQ_6_UNWIND_TAPER_LEFT = 0.94
IONIQ_6_UNWIND_TAPER_RIGHT = 1.74
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 = 0.12
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.60
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.34
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.50
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.10
IONIQ_6_CENTER_TAPER_MAX = 0.030
IONIQ_6_CENTER_TAPER_LAT = 0.12
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.72
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.56
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.06
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.60
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.28
IONIQ_6_CENTER_TAPER_MAX = 0.032
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_DIRECTIONAL_TAPER_LAT_START = 0.15
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.26
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.24
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.72
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.02
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.30
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.28
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.86
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.68
IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.86
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.70
IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.90
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
selfdrive/controls/tests/test_latcontrol.py
+2 -1
View File
@@ -213,7 +213,8 @@ class TestLatControl:
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) < get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < 1.0
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(1.2, 0.0, 20.0)
assert abs(get_ioniq_6_ff_scale(1.2, 0.0, 20.0) - 1.0) < 0.02
def test_ioniq_6_directional_taper_curve(self):
assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0