From 1c9c8fe8e4dde92d81e516b643555973f7a65be7 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 25 Jan 2026 23:45:52 -0600 Subject: [PATCH] Silverado --- selfdrive/car/gm/values.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e1ec173f8..44e5fca7a 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -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")], diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 10b9615b1..cc8d4a2ed 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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]]]