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rav4

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firestar5683
2026-08-01 23:22:40 -05:00
parent 7b9b7461bc
commit 10c1e61ffc
2 changed files with 25 additions and 17 deletions
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selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+6 -6
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@@ -775,12 +775,12 @@ PRIUS_CENTER_TAPER_SPEED = 18.0
PRIUS_CENTER_TAPER_SPEED_WIDTH = 2.2
RAV4_PRIME_PHASE_SCALE = 0.12
RAV4_PRIME_UNWIND_FF_REDUCTION_LEFT = 0.15
RAV4_PRIME_UNWIND_FF_REDUCTION_RIGHT = 0.13
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT = 0.12
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT = 0.14
RAV4_PRIME_UNWIND_FF_REDUCTION_LEFT = 0.18
RAV4_PRIME_UNWIND_FF_REDUCTION_RIGHT = 0.19
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_LEFT = 0.19
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_RIGHT = 0.20
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT = 0.17
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT = 0.21
RAV4_PRIME_FRICTION_THRESHOLD_GAIN = 0.24
RAV4_PRIME_FRICTION_CENTER_LAT = 0.30
RAV4_PRIME_FRICTION_CENTER_LAT_WIDTH = 0.07
selfdrive/controls/tests/test_latcontrol.py
+19 -11
View File
@@ -27,6 +27,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
clear_flm_runtime_overrides,
get_flm_runtime_overrides,
get_hkg_canfd_base_friction_threshold,
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT,
RAM_1500_BASE_LAT_ACCEL_FACTOR_MULT,
get_ram_1500_transition_output_scale,
get_subaru_impreza_pid_output_scale,
@@ -168,10 +169,14 @@ class TestLatControl:
assert get_bolt_2017_base_torque_scale(0.5) > get_bolt_2017_base_torque_scale(-0.5)
assert 1.0 < get_bolt_2017_base_torque_scale(1.2) < get_bolt_2017_base_torque_scale(0.5)
assert get_bolt_2017_base_torque_scale(-2.5) < 1.0
assert 1.0 < get_bolt_2017_steer_ratio_scale(10.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(20.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(30.0 * 0.44704)
assert (1.0 < get_bolt_2017_steer_ratio_scale(10.0 * 0.44704) <
get_bolt_2017_steer_ratio_scale(20.0 * 0.44704) <
get_bolt_2017_steer_ratio_scale(30.0 * 0.44704))
assert get_bolt_2017_steer_ratio_scale(5.0 * 0.44704) < 1.01
assert get_bolt_2017_steer_ratio_scale(35.0 * 0.44704) > 1.04
assert get_bolt_2017_center_taper_scale(0.0, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.10, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.20, 30.0 * 0.44704) <= 1.0
assert (get_bolt_2017_center_taper_scale(0.0, 30.0 * 0.44704) <
get_bolt_2017_center_taper_scale(0.10, 30.0 * 0.44704) <
get_bolt_2017_center_taper_scale(0.20, 30.0 * 0.44704) <= 1.0)
assert get_bolt_2017_center_taper_scale(0.0, 30.0 * 0.44704) < get_bolt_2017_center_taper_scale(0.0, 10.0 * 0.44704)
assert get_bolt_2017_torque_scale(0.0, 0.0, 30.0 * 0.44704) < 1.0
assert get_bolt_2017_torque_scale(0.6, 0.6, 8.0) > get_bolt_2017_torque_scale(0.6, 0.0, 8.0) > get_bolt_2017_torque_scale(0.6, -0.6, 8.0)
@@ -283,7 +288,9 @@ class TestLatControl:
def test_volt_standard_center_taper_curve(self):
assert get_volt_standard_center_taper_scale(0.0, 10.0) > get_volt_standard_center_taper_scale(0.0, 25.0)
assert get_volt_standard_center_taper_scale(0.0, 25.0) < get_volt_standard_center_taper_scale(0.10, 25.0) < get_volt_standard_center_taper_scale(0.20, 25.0) <= 1.0
assert (get_volt_standard_center_taper_scale(0.0, 25.0) <
get_volt_standard_center_taper_scale(0.10, 25.0) <
get_volt_standard_center_taper_scale(0.20, 25.0) <= 1.0)
assert get_volt_standard_center_taper_scale(0.0, 25.0) > 0.85
def test_sonata_hybrid_ff_scale_curve(self):
@@ -674,7 +681,9 @@ class TestLatControl:
assert left_turn_in == pytest.approx(1.0)
assert right_turn_in == pytest.approx(1.0)
assert left_unwind < right_unwind < 1.0
assert right_unwind < left_unwind < 1.0
assert left_unwind < 0.86
assert right_unwind < 0.86
assert get_rav4_prime_ff_scale(1.0, -0.8, 25.0) > left_unwind
def test_rav4_prime_friction_targets_center_and_unwind(self):
@@ -694,6 +703,8 @@ class TestLatControl:
left_unwind = get_rav4_prime_output_taper_scale(1.0, -0.8, 13.0)
right_unwind = get_rav4_prime_output_taper_scale(-1.0, 0.8, 13.0)
assert right_unwind < left_unwind < 1.0
assert left_unwind < 0.87
assert right_unwind < 0.84
assert get_rav4_prime_output_taper_scale(-1.0, 0.8, 25.0) > right_unwind
def test_rav4_prime_forced_torque_update_path(self, monkeypatch):
@@ -868,7 +879,7 @@ class TestLatControl:
assert get_ioniq_6_center_taper_scale(0.24, 22.0) - get_ioniq_6_center_taper_scale(0.24, 27.0) < 1.0e-2
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 7.2e-2
def test_kia_ev6_ff_scale_curve(self):
def test_kia_ev6_base_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_kia_ev6_ff_scale(-0.3, 0.0, 20.0) > get_kia_ev6_ff_scale(0.3, 0.0, 20.0)
assert get_kia_ev6_ff_scale(-0.4, -0.7, 8.0) > get_kia_ev6_ff_scale(-0.4, 0.0, 8.0) > get_kia_ev6_ff_scale(-0.4, 0.7, 8.0)
@@ -1025,7 +1036,7 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
assert lac_log.active
assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.10)
assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT)
def test_kia_carnival_default_update_path(self):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_CARNIVAL_2025)
@@ -1253,14 +1264,13 @@ class TestLatControl:
assert unwind_right < unwind_left
def test_modified_civic_b_variant_extra_torque_shaping_curve(self, monkeypatch):
base_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
base_steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)
base_turn_in_right = get_civic_bosch_modified_b_ff_scale(-0.5, -0.8, 12.0)
base_unwind_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.8, 12.0)
base_turn_in_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, -0.8)
base_unwind_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
monkeypatch.setattr(latcontrol_vehicle_tunes, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
variant_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
variant_steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)
@@ -1287,9 +1297,7 @@ class TestLatControl:
base_unwind_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.8, 12.0)
base_turn_in_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, -0.8)
base_unwind_left_friction = get_civic_bosch_modified_b_friction_scale(12.0, 0.5, -0.8)
base_unwind_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_a_lateral_testing_ground_active", lambda: True)
monkeypatch.setattr(latcontrol_vehicle_tunes, "civic_bosch_modified_a_lateral_testing_ground_active", lambda: True)
a_variant_steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
a_variant_steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)