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palisade and gen2 bolt

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firestar5683
2026-05-11 00:53:27 -05:00
parent 3c3969b09d
commit 4747d26cf6
4 changed files with 15 additions and 6 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+2 -2
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@@ -201,10 +201,10 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.8
if candidate == CAR.HYUNDAI_PALISADE_2023:
ret.startAccel = 1.2
ret.startAccel = 1.25
ret.stopAccel = -1.1
ret.stoppingDecelRate = 0.4
ret.vEgoStarting = 0.55
ret.vEgoStarting = 0.45
ret.vEgoStopping = 0.5
if candidate == CAR.KIA_NIRO_PHEV_2022:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+2 -2
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@@ -175,9 +175,9 @@ class TestHyundaiFingerprint:
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
assert CP.startAccel == pytest.approx(1.2)
assert CP.startAccel == pytest.approx(1.25)
assert CP.stopAccel == pytest.approx(-1.1)
assert CP.vEgoStarting == pytest.approx(0.55)
assert CP.vEgoStarting == pytest.approx(0.45)
assert CP.vEgoStopping == pytest.approx(0.5)
assert CP.stoppingDecelRate == pytest.approx(0.4)
selfdrive/controls/lib/latcontrol_torque.py
+10 -2
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@@ -178,9 +178,14 @@ BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.15
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.09
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.38
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.34
BOLT_2022_2023_FRICTION_MULT = 1.13
BOLT_2022_2023_FRICTION_MULT = 1.09
BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
BOLT_2022_2023_CENTER_TAPER_MAX = 0.11
BOLT_2022_2023_CENTER_TAPER_LAT = 0.18
BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH = 0.03
BOLT_2022_2023_CENTER_TAPER_SPEED = 25.0
BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH = 2.5
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 = 0.26
@@ -691,6 +696,9 @@ def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_je
onset = _bolt_2022_2023_sigmoid((abs_lateral_accel - BOLT_2022_2023_FF_ONSET) / BOLT_2022_2023_FF_ONSET_WIDTH)
cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH)
extra_scale = gain * onset * cutoff
speed_weight = _bolt_2022_2023_sigmoid((v_ego - BOLT_2022_2023_CENTER_TAPER_SPEED) / BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH)
center_weight = _bolt_2022_2023_sigmoid((BOLT_2022_2023_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH)
center_taper = 1.0 - (BOLT_2022_2023_CENTER_TAPER_MAX * speed_weight * center_weight)
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)
@@ -701,7 +709,7 @@ def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_je
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 * unwind_envelope)
return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
return 1.0 + (extra_scale * center_taper * turn_in_boost * max(unwind_taper, 0.0))
def get_bolt_2022_2023_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
selfdrive/controls/tests/test_latcontrol.py
+1
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@@ -161,6 +161,7 @@ class TestLatControl:
assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 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)
assert get_bolt_2022_2023_ff_scale(0.14, 0.0, 30.0) < get_bolt_2022_2023_ff_scale(0.14, 0.0, 20.0)
def test_bolt_2022_2023_friction_threshold_curve(self):
base = get_friction_threshold(6.0)