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Updated Bolt Tunes

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firestar5683
2026-04-08 18:00:02 -05:00
parent 89d3a0ef23
commit 3e885e238c
3 changed files with 49 additions and 11 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+20 -11
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@@ -72,20 +72,23 @@ BOLT_2017_UNWIND_TAPER_RIGHT = 0.28
BOLT_2018_2021_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
BOLT_2018_2021_STEER_RATIO_TEST_SCALE = 1.01
BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.085
BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.055
BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.090
BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.050
BOLT_2018_2021_TORQUE_ONSET = 0.18
BOLT_2018_2021_TORQUE_ONSET_WIDTH = 0.08
BOLT_2018_2021_TORQUE_CUTOFF = 1.05
BOLT_2018_2021_TORQUE_CUTOFF_WIDTH = 0.24
BOLT_2018_2021_JERK_TAPER_CUTOFF = 0.42
BOLT_2018_2021_CENTER_TAPER_LAT = 0.12
BOLT_2018_2021_CENTER_TAPER_WIDTH = 0.04
BOLT_2018_2021_CENTER_TAPER_GAIN = 0.35
BOLT_2018_2021_TRANSITION_SPEED = 8.5
BOLT_2018_2021_PHASE_SCALE = 0.10
BOLT_2018_2021_TURN_IN_BOOST_LEFT = 0.22
BOLT_2018_2021_TURN_IN_BOOST_RIGHT = 0.12
BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.72
BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.84
BOLT_2018_2021_FRICTION_MULT = 1.03
BOLT_2018_2021_FRICTION_MULT = 1.01
BOLT_2018_2021_FRICTION_LAT_RISE = 0.24
BOLT_2018_2021_FRICTION_JERK_RISE = 0.28
BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
@@ -108,19 +111,19 @@ BOLT_2022_2023_TRANSITION_SPEED = 9.0
BOLT_2022_2023_PHASE_SCALE = 0.12
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.12
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.06
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.24
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.20
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.28
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.24
BOLT_2022_2023_FRICTION_MULT = 1.15
BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.13
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.20
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.16
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
def get_friction_threshold(v_ego: float) -> float:
@@ -208,7 +211,11 @@ def get_bolt_2018_2021_torque_scale(desired_lateral_accel: float) -> float:
def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
base_scale = get_bolt_2018_2021_torque_scale(desired_lateral_accel)
extra_scale = max(base_scale - 1.0, 0.0)
abs_lateral_accel = abs(desired_lateral_accel)
low_speed_factor = _bolt_2018_2021_low_speed_factor(v_ego)
high_speed_factor = 1.0 - low_speed_factor
center_window = _bolt_2018_2021_sigmoid((BOLT_2018_2021_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2018_2021_CENTER_TAPER_WIDTH)
center_taper = 1.0 - (BOLT_2018_2021_CENTER_TAPER_GAIN * high_speed_factor * center_window)
phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
jerk_taper = 1.0 / (1.0 + (abs(desired_lateral_jerk) / BOLT_2018_2021_JERK_TAPER_CUTOFF) ** 2)
@@ -217,7 +224,7 @@ def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desire
unwind_weight = max(-phase, 0.0)
unwind_taper = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT, BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT) *
unwind_weight * (0.55 + 0.45 * low_speed_factor))
return 1.0 + (extra_scale * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
return 1.0 + (extra_scale * center_taper * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
@@ -282,13 +289,15 @@ def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_je
cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH)
extra_scale = gain * onset * cutoff
low_speed_factor = _bolt_2022_2023_low_speed_factor(v_ego)
transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
unwind_weight = max(-phase, 0.0)
turn_in_boost = 1.0 + (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_BOOST_LEFT, BOLT_2022_2023_TURN_IN_BOOST_RIGHT) *
turn_in_weight * low_speed_factor)
unwind_envelope = (0.25 + 0.75 * low_speed_factor) * (1.0 + 0.45 * transition_envelope)
unwind_taper = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_TAPER_LEFT, BOLT_2022_2023_UNWIND_TAPER_RIGHT) *
unwind_weight * (0.55 + 0.45 * low_speed_factor))
unwind_weight * unwind_envelope)
return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
selfdrive/controls/tests/test_latcontrol.py
+4
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@@ -66,6 +66,7 @@ class TestLatControl:
assert get_bolt_2018_2021_torque_scale(0.2) > get_bolt_2018_2021_torque_scale(0.08)
assert get_bolt_2018_2021_torque_scale(0.4) > get_bolt_2018_2021_torque_scale(-0.4)
assert get_bolt_2018_2021_torque_scale(2.0) < get_bolt_2018_2021_torque_scale(0.8)
assert get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 25.0) < get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 8.0)
assert get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.8, 20.0) < get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.1, 20.0)
assert get_bolt_2018_2021_dynamic_torque_scale(0.6, -0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(0.6, 0.6, 8.0)
assert get_bolt_2018_2021_dynamic_torque_scale(-0.6, 0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(-0.6, -0.6, 8.0)
@@ -81,10 +82,12 @@ class TestLatControl:
def test_bolt_2018_2021_friction_scale_curve(self):
base = get_bolt_2018_2021_friction_scale(25.0, 0.7, 0.8)
center_base = get_bolt_2018_2021_friction_scale(25.0, 0.0, 0.0)
left_turn_in = get_bolt_2018_2021_friction_scale(6.0, 0.7, 0.8)
right_turn_in = get_bolt_2018_2021_friction_scale(6.0, -0.7, -0.8)
left_unwind = get_bolt_2018_2021_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_bolt_2018_2021_friction_scale(6.0, -0.7, 0.8)
assert center_base < 1.02
assert left_turn_in > right_turn_in > base
assert base > left_unwind > right_unwind
@@ -94,6 +97,7 @@ class TestLatControl:
assert get_bolt_2022_2023_ff_scale(0.6, 0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0)
assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 8.0)
assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 8.0) < get_bolt_2022_2023_ff_scale(0.6, 0.0, 8.0)
assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 6.0) < get_bolt_2022_2023_ff_scale(0.6, -0.7, 20.0)
def test_bolt_2022_2023_friction_threshold_curve(self):
base = get_friction_threshold(6.0)