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Vehicles - Toyota - Longitudinal Tune - DragonPilot

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Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-06-14 22:48:20 -07:00
parent e7c648cafd
commit 4c34bc726f
1 changed files with 13 additions and 0 deletions
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selfdrive/car/toyota/interface.py
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@@ -146,6 +146,19 @@ class CarInterface(CarInterfaceBase):
else:
tune.kpV = [0.0]
tune.kiV = [1.2] # appears to produce minimal oscillation on TSS-P
elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
# Credit goes to the DragonPilot team!
if candidate in TSS2_CAR:
tune.kiBP = [0., 0.1, 1., 2., 3., 5., 8., 12., 14., 20., 26., 36., 50]
tune.kiV = [0.346, 0.35, 0.33, 0.309, 0.287, 0.228, 0.222, 0.2085, 0.19, 0.17, 0.10, 0.06, 0.01]
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.40
ret.stoppingDecelRate = 0.40
else:
tune.kiBP = [0., 35.]
tune.kpV = [3.6, 2.4, 1.5]
tune.kiV = [0.54, 0.36]
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpV = [0.0]
tune.kiV = [0.5]