mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-03 22:53:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Silverado

Browse Source
This commit is contained in:
firestar5683
2026-01-25 23:45:52 -06:00
parent 2e37b1e5ac
commit 1c9c8fe8e4
2 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/values.py
+1 -1
View File
@@ -175,7 +175,7 @@ class CAR(Platforms):
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=17.35, tireStiffnessFactor=1.0),
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.90, tireStiffnessFactor=1.0),
)
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
selfdrive/controls/lib/latcontrol_torque.py
+4
View File
@@ -52,6 +52,8 @@ SILVERADO_KI_POS_MULT = 0.70
SILVERADO_KI_NEG_MULT = 0.50
SILVERADO_KP_LOW_SPEED_BP = [0.0, 15.0 * CV.MPH_TO_MS, 35.0 * CV.MPH_TO_MS]
SILVERADO_KP_LOW_SPEED_V = [0.92, 0.96, 1.0]
SILVERADO_KP_HI_SPEED_BP = [35.0 * CV.MPH_TO_MS, 70.0 * CV.MPH_TO_MS]
SILVERADO_KP_HI_SPEED_V = [1.00, 1.04]
SILVERADO_KI_GAIN = 1.25
SILVERADO_LSF_MULT_MAX = 1.6
SILVERADO_KP_FLOOR = 0.08
@@ -158,7 +160,9 @@ class LatControlTorque(LatControl):
# Silverado-only split tuning to reduce left bias, wander, and low-lat oscillations.
base_kp_mult = SILVERADO_KP_POS_MULT if leftward else SILVERADO_KP_NEG_MULT
low_speed_kp_mult = np.interp(CS.vEgo, SILVERADO_KP_LOW_SPEED_BP, SILVERADO_KP_LOW_SPEED_V)
hi_speed_kp_mult = np.interp(CS.vEgo, SILVERADO_KP_HI_SPEED_BP, SILVERADO_KP_HI_SPEED_V)
kp_mult = base_kp_mult * low_speed_kp_mult * ((1.0 - SILVERADO_LEFT_P_REDUCTION) if leftward else 1.0)
kp_mult *= hi_speed_kp_mult
ki_mult = (SILVERADO_KI_POS_MULT if leftward else SILVERADO_KI_NEG_MULT) * SILVERADO_KI_GAIN
self.pid._k_p = [self.base_kp[0], [k * kp_mult for k in self.base_kp[1]]]
self.pid._k_i = [self.base_ki[0], [k * ki_mult for k in self.base_ki[1]]]