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Update Lateral

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firestar5683
2026-03-07 19:52:19 -06:00
parent bd7f47eb20
commit 0d911b2c31
2 changed files with 4 additions and 4 deletions
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selfdrive/car/gm/interface.py
+2 -2
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@@ -417,10 +417,10 @@ class CarInterface(CarInterfaceBase):
CAR.CHEVROLET_BOLT_ACC_2022_2023,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023):
# Apply 2019-style negative FF and Ki-mult tweaks to 2019-2021 and 2022 variants.
# Apply 2019+/2022 generation-specific FF and Ki/Kd tweaks.
ret.lateralTuning.torque.ki *= 1.07
ret.lateralTuning.torque.kd *= 0.93
ret.lateralTuning.torque.kfDEPRECATED *= 1.20
ret.lateralTuning.torque.kfDEPRECATED *= 0.75
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
ret.lateralTuning.torque.kp *= 1.0
selfdrive/car/interfaces.py
+2 -2
View File
@@ -37,12 +37,12 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.12
FRICTION_THRESHOLD = 0.16
def get_friction_threshold(v_ego):
# Interpolate friction threshold
from openpilot.common.numpy_fast import interp
return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
return interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27])
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')