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update 2018 bolt tune

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This commit is contained in:
firestar5683
2026-04-08 00:15:38 -05:00
parent 2d7d7a1246
commit b94bad766a
2 changed files with 46 additions and 20 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+33 -12
View File
@@ -75,14 +75,21 @@ BOLT_2018_2021_TORQUE_CUTOFF_WIDTH = 0.24
BOLT_2018_2021_JERK_TAPER_CUTOFF = 0.42
BOLT_2018_2021_TRANSITION_SPEED = 8.5
BOLT_2018_2021_PHASE_SCALE = 0.10
BOLT_2018_2021_UNWIND_TAPER_GAIN = 0.65
BOLT_2018_2021_TURN_IN_BOOST_LEFT = 0.22
BOLT_2018_2021_TURN_IN_BOOST_RIGHT = 0.12
BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.72
BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.84
BOLT_2018_2021_FRICTION_MULT = 1.03
BOLT_2018_2021_FRICTION_LAT_RISE = 0.24
BOLT_2018_2021_FRICTION_JERK_RISE = 0.28
BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION = 0.12
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE = 0.10
BOLT_2018_2021_TURN_IN_FRICTION_BOOST = 0.06
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION = 0.12
BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.13
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.17
BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
def get_friction_threshold(v_ego: float) -> float:
@@ -118,6 +125,10 @@ def _bolt_2018_2021_transition_phase(desired_lateral_accel: float, desired_later
return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2018_2021_PHASE_SCALE)
def _bolt_2018_2021_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
return left_value if desired_lateral_accel >= 0.0 else right_value
def _bolt_2018_2021_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2018_2021_FRICTION_LAT_RISE)
jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2018_2021_FRICTION_JERK_RISE)
@@ -138,10 +149,16 @@ def get_bolt_2018_2021_torque_scale(desired_lateral_accel: float) -> float:
def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
base_scale = get_bolt_2018_2021_torque_scale(desired_lateral_accel)
extra_scale = max(base_scale - 1.0, 0.0)
low_speed_factor = _bolt_2018_2021_low_speed_factor(v_ego)
phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
jerk_taper = 1.0 / (1.0 + (abs(desired_lateral_jerk) / BOLT_2018_2021_JERK_TAPER_CUTOFF) ** 2)
unwind_weight = max(-_bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk), 0.0)
unwind_taper = 1.0 - (BOLT_2018_2021_UNWIND_TAPER_GAIN * unwind_weight * (0.55 + 0.45 * _bolt_2018_2021_low_speed_factor(v_ego)))
return 1.0 + (extra_scale * jerk_taper * max(unwind_taper, 0.0))
turn_in_boost = 1.0 + (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_BOOST_LEFT, BOLT_2018_2021_TURN_IN_BOOST_RIGHT) *
turn_in_weight * low_speed_factor)
unwind_weight = max(-phase, 0.0)
unwind_taper = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT, BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT) *
unwind_weight * (0.55 + 0.45 * low_speed_factor))
return 1.0 + (extra_scale * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
@@ -150,8 +167,10 @@ def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: f
phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
unwind_weight = max(-phase, 0.0)
threshold_scale = 1.0 - (BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION * transition_envelope * turn_in_weight)
threshold_scale += BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE * transition_envelope * unwind_weight
threshold_scale = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT) *
transition_envelope * unwind_weight)
return base_threshold * min(max(threshold_scale, 0.82), 1.12)
@@ -161,8 +180,10 @@ def get_bolt_2018_2021_friction_scale(v_ego: float, desired_lateral_accel: float
turn_in_weight = max(phase, 0.0)
unwind_weight = max(-phase, 0.0)
friction_scale = BOLT_2018_2021_FRICTION_MULT
friction_scale += BOLT_2018_2021_TURN_IN_FRICTION_BOOST * transition_envelope * turn_in_weight
friction_scale -= BOLT_2018_2021_UNWIND_FRICTION_REDUCTION * transition_envelope * unwind_weight
friction_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT) *
transition_envelope * turn_in_weight)
friction_scale -= (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT) *
transition_envelope * unwind_weight)
return min(max(friction_scale, 0.88), 1.10)
selfdrive/controls/tests/test_latcontrol.py
+13 -8
View File
@@ -61,20 +61,25 @@ class TestLatControl:
assert get_bolt_2018_2021_torque_scale(2.0) < get_bolt_2018_2021_torque_scale(0.8)
assert get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.8, 20.0) < get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.1, 20.0)
assert get_bolt_2018_2021_dynamic_torque_scale(0.6, -0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(0.6, 0.6, 8.0)
assert get_bolt_2018_2021_dynamic_torque_scale(-0.6, 0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(-0.6, -0.6, 8.0)
def test_bolt_2018_2021_friction_threshold_curve(self):
base = get_friction_threshold(6.0)
turn_in = get_bolt_2018_2021_friction_threshold(6.0, 0.7, 0.8)
unwind = get_bolt_2018_2021_friction_threshold(6.0, 0.7, -0.8)
assert turn_in < base < unwind
assert get_bolt_2018_2021_friction_threshold(25.0, 0.7, 0.8) > turn_in
left_turn_in = get_bolt_2018_2021_friction_threshold(6.0, 0.7, 0.8)
right_turn_in = get_bolt_2018_2021_friction_threshold(6.0, -0.7, -0.8)
left_unwind = get_bolt_2018_2021_friction_threshold(6.0, 0.7, -0.8)
right_unwind = get_bolt_2018_2021_friction_threshold(6.0, -0.7, 0.8)
assert left_turn_in < right_turn_in < base < left_unwind < right_unwind
assert get_bolt_2018_2021_friction_threshold(25.0, 0.7, 0.8) > left_turn_in
def test_bolt_2018_2021_friction_scale_curve(self):
base = get_bolt_2018_2021_friction_scale(25.0, 0.7, 0.8)
turn_in = get_bolt_2018_2021_friction_scale(6.0, 0.7, 0.8)
unwind = get_bolt_2018_2021_friction_scale(6.0, 0.7, -0.8)
assert turn_in > base
assert unwind < turn_in
left_turn_in = get_bolt_2018_2021_friction_scale(6.0, 0.7, 0.8)
right_turn_in = get_bolt_2018_2021_friction_scale(6.0, -0.7, -0.8)
left_unwind = get_bolt_2018_2021_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_bolt_2018_2021_friction_scale(6.0, -0.7, 0.8)
assert left_turn_in > right_turn_in > base
assert base > left_unwind > right_unwind
def test_bolt_2017_testing_ground_update_path(self, monkeypatch):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_CC_2017)