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Lat Tuning

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This commit is contained in:
firestar5683
2026-02-23 22:24:42 -06:00
parent e2a15a0985
commit 33cb78cfa9
4 changed files with 28 additions and 7 deletions
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selfdrive/car/gm/interface.py
+8
View File
@@ -382,6 +382,14 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.torque.kd = 0.93
ret.lateralTuning.torque.kfDEPRECATED = 0.02
if candidate in (CAR.CHEVROLET_BOLT_CC_2019_2021,
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.
ret.lateralTuning.torque.ki *= 1.07
ret.lateralTuning.torque.kd *= 0.93
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
selfdrive/car/torque_data/override.toml
+3 -1
View File
@@ -44,7 +44,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CADILLAC_XT6" = [1.33, 1.9, 0.16]
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
"CHEVROLET_BOLT_CC_2017" = [1.5, 2.0, 0.245]
"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
selfdrive/car/torque_data/substitute.toml
-2
View File
@@ -64,10 +64,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
"GMC_ACADIA_ASCM" = "GMC_ACADIA"
"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
"CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
"CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
selfdrive/controls/lib/latcontrol_torque.py
+17 -4
View File
@@ -43,12 +43,18 @@ DEADZONE_BOOST_LAT_ACCEL = 0.08
UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
BOLT_CARS = (
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
)
BOLT_2019_2021_CARS = (
GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
)
BOLT_2017_CARS = (
GM_CAR.CHEVROLET_BOLT_CC_2017,
)
BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2019_2021_CARS + BOLT_2017_CARS
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -72,6 +78,13 @@ class LatControlTorque(LatControl):
self.prev_desired_lateral_accel = 0.0
self.is_bolt = CP.carFingerprint in BOLT_CARS
self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
self.is_bolt_2019_2021 = CP.carFingerprint in BOLT_2019_2021_CARS
self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
# Keep Bolt-specific FF controls isolated by generation.
self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021
self.torque_ff_scale_pos = 1.0
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost_neg = 0.0
@@ -81,7 +94,7 @@ class LatControlTorque(LatControl):
self.torque_ff_scale_neg = float(self.torque_params.ki)
self.torque_ki_mult = float(self.torque_params.kd)
self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
@@ -144,13 +157,13 @@ class LatControlTorque(LatControl):
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
ff_scale = 1.0
if self.is_bolt:
if self.use_bolt_ff_scaling:
ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
[self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
ff *= ff_scale
ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
deadzone_boost_active = False
if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
if self.use_bolt_deadzone_boost and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
ff -= self.torque_deadzone_boost_neg * boost_scale