mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-24 10:42:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

tunes

Browse Source
This commit is contained in:
firestar5683
2026-07-21 14:29:34 -05:00
parent 5b41566e4e
commit 4e70755895
3 changed files with 51 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_torque.py
+7 -5
View File
@@ -252,7 +252,7 @@ class LatControlTorque(LatControl):
kia_xceed_active = self.is_kia_xceed
kia_niro_phev_2022_active = self.is_kia_niro_phev_2022
kia_forte_active = self.is_kia_forte
kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
kia_ev6_active = self.is_kia_ev6
kia_carnival_active = self.is_kia_carnival
tucson_4th_gen_active = self.is_tucson_4th_gen
volt_plexy_test_active = self.is_volt_standard and volt_plexy_lateral_testing_ground_active()
@@ -267,8 +267,8 @@ class LatControlTorque(LatControl):
kia_xceed_center_taper = get_kia_xceed_center_taper_scale(setpoint, CS.vEgo) if kia_xceed_active else 1.0
kia_niro_phev_2022_center_taper = get_kia_niro_phev_2022_center_taper_scale(setpoint, CS.vEgo) if kia_niro_phev_2022_active else 1.0
kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
kia_ev6_low_speed_center_taper = get_kia_ev6_low_speed_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_active else 1.0
kia_ev6_low_speed_center_taper = get_kia_ev6_low_speed_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_active else 1.0
kia_carnival_center_taper = get_kia_carnival_center_taper_scale(setpoint, CS.vEgo) if kia_carnival_active else 1.0
tucson_4th_gen_center_taper = get_tucson_4th_gen_center_taper_scale(setpoint, CS.vEgo) if tucson_4th_gen_active else 1.0
silverado_center_taper = get_silverado_center_taper_scale(setpoint, CS.vEgo) if self.is_silverado else 1.0
@@ -342,7 +342,7 @@ class LatControlTorque(LatControl):
elif kia_forte_active:
ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
friction_threshold = get_kia_forte_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
elif kia_ev6_test_active:
elif kia_ev6_active:
ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_ev6_center_taper
friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_kia_ev6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -410,13 +410,15 @@ class LatControlTorque(LatControl):
if ioniq_6_active:
output_torque *= get_ioniq_6_highway_output_taper_scale(setpoint, CS.vEgo)
output_torque *= get_ioniq_6_highway_transition_output_taper_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif rav4_prime_active:
output_torque *= get_rav4_prime_output_taper_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif prius_active:
output_torque *= prius_center_taper
elif volt_standard_test_active:
output_torque *= volt_standard_center_taper
elif volt_plexy_test_active:
output_torque *= volt_plexy_center_taper
elif kia_ev6_test_active:
elif kia_ev6_active:
output_torque *= kia_ev6_low_speed_center_taper
elif kia_carnival_active:
output_torque *= kia_carnival_center_taper
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+12 -2
View File
@@ -350,12 +350,12 @@ KIA_CARNIVAL_CENTER_TAPER_SPEED_MAX_WIDTH = 2.0
KIA_CARNIVAL_FRICTION_THRESHOLD_GAIN = 0.24
KIA_CARNIVAL_FRICTION_CENTER_FADE_MAX = 0.34
TUCSON_4TH_GEN_CENTER_TAPER_MAX = 0.36
TUCSON_4TH_GEN_CENTER_TAPER_MAX = 0.44
TUCSON_4TH_GEN_CENTER_TAPER_LAT = 0.28
TUCSON_4TH_GEN_CENTER_TAPER_LAT_WIDTH = 0.055
TUCSON_4TH_GEN_CENTER_TAPER_SPEED_MAX = 14.0
TUCSON_4TH_GEN_CENTER_TAPER_SPEED_WIDTH = 1.5
TUCSON_4TH_GEN_FRICTION_THRESHOLD_GAIN = 0.22
TUCSON_4TH_GEN_FRICTION_THRESHOLD_GAIN = 0.28
KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
KIA_FORTE_FF_REDUCTION_LEFT = 0.05
@@ -721,6 +721,8 @@ RAV4_PRIME_UNWIND_FF_REDUCTION_LEFT = 0.15
RAV4_PRIME_UNWIND_FF_REDUCTION_RIGHT = 0.13
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
RAV4_PRIME_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT = 0.12
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT = 0.14
RAV4_PRIME_FRICTION_THRESHOLD_GAIN = 0.24
RAV4_PRIME_FRICTION_CENTER_LAT = 0.30
RAV4_PRIME_FRICTION_CENTER_LAT_WIDTH = 0.07
@@ -1019,6 +1021,14 @@ def get_rav4_prime_friction_scale(v_ego: float, desired_lateral_accel: float, de
_rav4_prime_speed_weight(v_ego))
def get_rav4_prime_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
reduction = _rav4_prime_side_value(desired_lateral_accel,
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT,
RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT)
return 1.0 - (reduction * _rav4_prime_unwind_weight(desired_lateral_accel, desired_lateral_jerk) *
_rav4_prime_speed_weight(v_ego))
def civic_bosch_modified_lateral_testing_ground_active() -> bool:
return testing_ground.use("8", "B")
selfdrive/controls/tests/test_latcontrol.py
+32 -5
View File
@@ -60,6 +60,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_rav4_prime_ff_scale,
get_rav4_prime_friction_scale,
get_rav4_prime_friction_threshold,
get_rav4_prime_output_taper_scale,
get_ioniq_5_ff_scale,
get_ioniq_5_friction_scale,
get_ioniq_5_friction_threshold,
@@ -593,14 +594,32 @@ class TestLatControl:
assert get_rav4_prime_friction_scale(13.0, 1.0, 0.8) == pytest.approx(1.0)
assert get_rav4_prime_friction_scale(13.0, 1.0, -0.8) < 1.0
def test_rav4_prime_forced_torque_update_path(self):
def test_rav4_prime_output_taper_only_targets_unwind(self):
assert get_rav4_prime_output_taper_scale(1.0, 0.8, 13.0) == pytest.approx(1.0)
assert get_rav4_prime_output_taper_scale(-1.0, -0.8, 13.0) == pytest.approx(1.0)
left_unwind = get_rav4_prime_output_taper_scale(1.0, -0.8, 13.0)
right_unwind = get_rav4_prime_output_taper_scale(-1.0, 0.8, 13.0)
assert right_unwind < left_unwind < 1.0
assert get_rav4_prime_output_taper_scale(-1.0, 0.8, 25.0) > right_unwind
def test_rav4_prime_forced_torque_update_path(self, monkeypatch):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(TOYOTA.TOYOTA_RAV4_PRIME, force_torque=True)
CS.vEgo = 13.0
base_output, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
monkeypatch.setattr(latcontrol_torque, "get_rav4_prime_output_taper_scale", lambda *_args: 0.5)
tapered_controller, tapered_VM, tapered_CS, tapered_params, tapered_toggles = self._build_torque_controller(
TOYOTA.TOYOTA_RAV4_PRIME, force_torque=True,
)
tapered_CS.vEgo = 13.0
tapered_output, _, _ = tapered_controller.update(
True, tapered_CS, tapered_VM, tapered_params, False, 0.0025, False, 0.2, None, None, tapered_toggles,
)
assert controller.is_rav4_prime
assert lac_log.active
assert tapered_output == pytest.approx(base_output * 0.5)
def test_ioniq_5_center_taper_curve(self):
assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)
@@ -882,7 +901,7 @@ class TestLatControl:
low_speed_turn = get_tucson_4th_gen_friction_threshold(8.5, 0.50)
high_speed_center = get_tucson_4th_gen_friction_threshold(20.0, 0.0)
assert low_speed_center == pytest.approx(base * 1.22, rel=0.01)
assert low_speed_center == pytest.approx(base * 1.28, rel=0.01)
assert low_speed_turn == pytest.approx(base, rel=0.01)
assert high_speed_center == pytest.approx(get_hkg_canfd_base_friction_threshold(20.0), rel=0.01)
@@ -1082,13 +1101,21 @@ class TestLatControl:
assert get_civic_bosch_modified_a_center_taper_scale(0.0, 25.0) < get_civic_bosch_modified_a_center_taper_scale(0.0, 10.0)
assert get_civic_bosch_modified_a_center_taper_scale(0.0, 25.0) < get_civic_bosch_modified_a_center_taper_scale(0.35, 25.0) <= 1.0
def test_kia_ev6_testing_ground_update_path(self, monkeypatch):
def test_kia_ev6_default_update_path(self, monkeypatch):
controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_EV6)
monkeypatch.setattr(latcontrol_torque, "kia_ev6_lateral_testing_ground_active", lambda: True)
calls = 0
def record_ff_scale(*_args):
nonlocal calls
calls += 1
return 1.0
monkeypatch.setattr(latcontrol_torque, "get_kia_ev6_ff_scale", record_ff_scale)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
assert lac_log.active
assert calls == 1
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0