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Update latcontrol_pid.py

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firestar5683
2026-05-02 15:02:44 -05:00
parent fc4a53c02e
commit 5ace618860
1 changed files with 7 additions and 7 deletions
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selfdrive/controls/lib/latcontrol_pid.py
+7 -7
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@@ -15,15 +15,15 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
abs_angle = abs(desired_angle_deg)
speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
center_weight = min(max((4.0 - abs_angle) / 4.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 8.0) / 24.0, 0.0), 1.0)
center_weight = min(max((6.0 - abs_angle) / 6.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 6.0) / 22.0, 0.0), 1.0)
phase = desired_angle_deg * desired_angle_delta_deg
is_left = desired_angle_deg > 0.0
center_taper = 0.06
base_scale = 0.08 if is_left else 0.10
turn_in_scale = 0.08 if is_left else 0.10
unwind_scale = 0.10 if is_left else 0.14
center_taper = 0.08
base_scale = 0.10 if is_left else 0.12
turn_in_scale = 0.10 if is_left else 0.14
unwind_scale = 0.14 if is_left else 0.20
scale = 1.0 - (speed_weight * center_weight * center_taper)
scale += speed_weight * angle_weight * base_scale
@@ -32,7 +32,7 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
elif phase < -0.2:
scale -= speed_weight * angle_weight * unwind_scale
return max(scale, 0.84)
return max(scale, 0.78)
class LatControlPID(LatControl):