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firestar5683
2026-09-02 11:54:07 -05:00
parent 3d4c625deb
commit 5122b8df42
3 changed files with 4 additions and 7 deletions
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selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+2 -5
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@@ -288,8 +288,8 @@ GENESIS_G70_CURVE_UNWIND_LAT = 0.25
GENESIS_G70_CURVE_UNWIND_LAT_WIDTH = 0.12
GENESIS_G70_CURVE_UNWIND_JERK = 0.08
GENESIS_G70_CURVE_UNWIND_JERK_WIDTH = 0.08
GENESIS_G70_UNWIND_FF_REDUCTION_MAX = 0.36
GENESIS_G70_UNWIND_FF_OVERSHOOT = 0.10
GENESIS_G70_UNWIND_FF_REDUCTION_MAX = 0.32
GENESIS_G70_UNWIND_FF_OVERSHOOT = 0.12
GENESIS_G70_UNWIND_FF_OVERSHOOT_WIDTH = 0.12
GENESIS_G70_UNWIND_FF_JERK = 0.10
GENESIS_G70_UNWIND_FF_JERK_WIDTH = 0.10
@@ -302,7 +302,6 @@ GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_ERROR = 0.18
GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_ERROR_WIDTH = 0.15
GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_JERK = 0.15
GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_JERK_WIDTH = 0.10
GENESIS_G70_HIGH_SPEED_OVERSHOOT_PHASE_WEIGHT = 0.60
GENESIS_G70_ANGLE_OUTPUT_TAPER_MIN = 0.45
GENESIS_G70_ANGLE_OUTPUT_TAPER_START = 70.0
GENESIS_G70_ANGLE_OUTPUT_TAPER_WIDTH = 6.0
@@ -3238,8 +3237,6 @@ def get_genesis_g70_high_speed_error_scale(setpoint: float, measured_lateral_acc
jerk_weight = _sigmoid((abs(desired_lateral_jerk) - GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_JERK) /
GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_JERK_WIDTH)
phase_weight = 1.0 if setpoint * desired_lateral_jerk < 0.0 else 0.45
if setpoint * measured_lateral_accel > 0.0 and abs(measured_lateral_accel) > abs(setpoint):
phase_weight = max(phase_weight, GENESIS_G70_HIGH_SPEED_OVERSHOOT_PHASE_WEIGHT)
reduction = (GENESIS_G70_HIGH_SPEED_ERROR_DAMPING_MAX * speed_weight * error_weight *
(0.35 + (0.65 * jerk_weight)) * phase_weight)
return 1.0 - reduction
selfdrive/controls/lib/longitudinal_vehicle_tunes.py
+1 -1
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@@ -20,7 +20,7 @@ HONDA_ACCORD_STOP_GO_MAX_LATERAL_OFFSET = 1.25
HONDA_ACCORD_STOP_GO_MIN_MODEL_PROB = 0.95
HONDA_ACCORD_STOP_GO_ACCEL_RISE_RATE = 4.0
HYUNDAI_ELANTRA_LEAD_FOLLOW_JERK_SCALE = 1.25
GENESIS_GV70_ELECTRIFIED_LEAD_FOLLOW_JERK_SCALE = 1.35
GENESIS_GV70_ELECTRIFIED_LEAD_FOLLOW_JERK_SCALE = 1.75
FORD_LIGHTNING_LEAD_FOLLOW_JERK_SCALE = 1.35
HONDA_CRV_5G_LEAD_FOLLOW_JERK_SCALE = 1.35
GM_SILVERADO_EARLY_FOLLOW_MIN_EGO_SPEED = 18.0
selfdrive/controls/tests/test_starpilot_planner.py
+1 -1
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@@ -42,7 +42,7 @@ def test_force_stop_jerk_scale_is_platform_specific():
def test_lead_follow_jerk_scale_is_platform_specific():
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="hyundai", carFingerprint="HYUNDAI_ELANTRA_2021")) == 1.25
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="hyundai", carFingerprint="GENESIS_GV70_ELECTRIFIED_1ST_GEN")) == 1.35
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="hyundai", carFingerprint="GENESIS_GV70_ELECTRIFIED_1ST_GEN")) == 1.75
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="ford", carFingerprint="FORD_F_150_LIGHTNING_MK1")) == 1.35
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="honda", carFingerprint="HONDA_CRV_5G")) == 1.35
assert get_lead_follow_jerk_scale(SimpleNamespace(brand="other", carFingerprint="OTHER_CAR")) == 1.0