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firestar5683
2026-05-04 09:46:51 -05:00
parent 14cde4a64c
commit 41fef69a57
2 changed files with 29 additions and 10 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+15 -10
View File
@@ -47,22 +47,23 @@ UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
MIN_LATERAL_CONTROL_SPEED = 0.3
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.10
CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.10
CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH = 0.07
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.00
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH = 0.30
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.11
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.08
CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.08
CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT = 0.10
CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT = 0.22
CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT = 0.24
CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.04
CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.15
CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.18
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.10
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.16
CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.02
CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT = 0.04
CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT = 0.28
CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT = 0.34
CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.01
CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.02
CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.24
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
@@ -1063,6 +1064,8 @@ class LatControlTorque(LatControl):
self.torque_ki_mult = 1.0
if self.is_ioniq_6:
self.torque_params.latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
if self.is_bolt:
kp_scale = getattr(self.torque_params, "kp", getattr(self.torque_params, "kpDEPRECATED", 1.0))
ki_scale = getattr(self.torque_params, "ki", getattr(self.torque_params, "kiDEPRECATED", 1.0))
@@ -1076,6 +1079,8 @@ class LatControlTorque(LatControl):
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
if self.is_ioniq_6:
latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
selfdrive/controls/tests/test_latcontrol.py
+14
View File
@@ -414,6 +414,20 @@ class TestLatControl:
assert captured["threshold"] == pytest.approx(0.3)
def test_modified_civic_b_torque_path_scales_lat_accel_factor(self, monkeypatch):
CarInterface = interfaces[HONDA.HONDA_CIVIC_BOSCH]
CP = CarInterface.get_non_essential_params(HONDA.HONDA_CIVIC_BOSCH)
CP.flags |= int(HondaFlags.EPS_MODIFIED)
CP.lateralTuning.init("torque")
CP.lateralTuning.torque.latAccelFactor = 3.0
CP.lateralTuning.torque.friction = 0.1
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
CI = CarInterface(CP, custom.StarPilotCarParams.new_message())
controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.10)
def test_modified_civic_b_torque_ff_scale_curve(self):
steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)
steady_right = get_civic_bosch_modified_b_ff_scale(-0.5, 0.0, 12.0)