stop the kachow

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -31,7 +31,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 # Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
-KIA_EV9_ACCEL_MAX = 2.5
+KIA_EV9_ACCEL_MAX = 2.2
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -1653,6 +1653,7 @@ class TestHyundaiFingerprint:
     assert CP.startAccel == pytest.approx(0.2)
     assert CP.vEgoStarting == pytest.approx(0.5)
     assert CP.longitudinalActuatorDelay == pytest.approx(0.3)
+    assert KIA_EV9_ACCEL_MAX == pytest.approx(2.2)
     assert CarInterface.get_pid_accel_limits(CP, 0.0, 0.0)[1] == pytest.approx(KIA_EV9_ACCEL_MAX)
 
     ioniq_6_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)

selfdrive/controls/lib/latcontrol_torque.py

@@ -408,6 +408,7 @@ class LatControlTorque(LatControl):
         friction_scale = get_toyota_highlander_tss2_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
       elif toyota_corolla_tss2_active:
         ff *= get_toyota_corolla_tss2_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_toyota_corolla_tss2_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
       elif lexus_is_active:
         ff *= get_lexus_is_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
       elif ioniq_5_active:

selfdrive/controls/lib/latcontrol_vehicle_tunes.py

@@ -1116,6 +1116,15 @@ TOYOTA_COROLLA_TSS2_CENTER_OUTPUT_TAPER_LAT = 0.18
 TOYOTA_COROLLA_TSS2_CENTER_OUTPUT_TAPER_LAT_WIDTH = 0.08
 TOYOTA_COROLLA_TSS2_CENTER_OUTPUT_TAPER_SPEED = 4.5
 TOYOTA_COROLLA_TSS2_CENTER_OUTPUT_TAPER_SPEED_WIDTH = 1.5
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_GAIN = 0.12
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_ONSET = 12.0
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 2.0
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_CUTOFF = 25.0
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_CUTOFF_WIDTH = 3.0
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_LAT = 0.24
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.10
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_JERK = 0.25
+TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_JERK_WIDTH = 0.10
 
 TOYOTA_HIGHLANDER_TSS2_PHASE_SCALE = 0.12
 TOYOTA_HIGHLANDER_TSS2_UNWIND_FF_REDUCTION = 0.10
@@ -1662,6 +1671,23 @@ def get_toyota_corolla_tss2_ff_scale(desired_lateral_accel: float,
   return 1.0 + curve_weight * speed_weight * (boost * turn_in_weight - unwind_reduction * unwind_weight)
 
 
+def get_toyota_corolla_tss2_friction_threshold(v_ego: float,
+                                               desired_lateral_accel: float = 0.0,
+                                               desired_lateral_jerk: float = 0.0) -> float:
+  """Reduce center-only friction chasing on highway-sized model corrections."""
+  speed_weight = (_sigmoid((v_ego - TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_ONSET) /
+                           TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH) *
+                  _sigmoid((TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_CUTOFF - v_ego) /
+                           TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_SPEED_CUTOFF_WIDTH))
+  center_weight = _sigmoid((TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_LAT - abs(desired_lateral_accel)) /
+                           TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_LAT_WIDTH)
+  calm_weight = _sigmoid((TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_JERK - abs(desired_lateral_jerk)) /
+                         TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_JERK_WIDTH)
+  gain = _flm_vehicle_knob("toyota_corolla_tss2.center_friction_threshold_gain",
+                           TOYOTA_COROLLA_TSS2_CENTER_FRICTION_THRESHOLD_GAIN)
+  return get_standard_friction_threshold(v_ego) * (1.0 + gain * speed_weight * center_weight * calm_weight)
+
+
 def get_toyota_corolla_tss2_center_output_scale(desired_lateral_accel: float, v_ego: float) -> float:
   """Taper only near-center crawl-speed torque during manual handoff."""
   center_weight = _sigmoid((TOYOTA_COROLLA_TSS2_CENTER_OUTPUT_TAPER_LAT - abs(desired_lateral_accel)) /

selfdrive/controls/tests/test_latcontrol.py

@@ -117,6 +117,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_toyota_highlander_tss2_friction_threshold,
   get_toyota_highlander_tss2_output_taper_scale,
   get_toyota_corolla_tss2_center_output_scale,
+  get_toyota_corolla_tss2_friction_threshold,
   get_toyota_corolla_tss2_ff_scale,
   get_lexus_is_ff_scale,
   get_camry_ff_scale,
@@ -444,6 +445,17 @@ class TestLatControl:
     assert 0.65 <= crawl_center < cruise_center <= 1.0
     assert crawl_curve > crawl_center
 
+  def test_toyota_corolla_tss2_friction_threshold_targets_center_highway_band(self):
+    base = get_standard_friction_threshold(16.0)
+    center = get_toyota_corolla_tss2_friction_threshold(16.0, 0.0, 0.0)
+    curve = get_toyota_corolla_tss2_friction_threshold(16.0, 0.8, 0.8)
+    slow = get_toyota_corolla_tss2_friction_threshold(5.0, 0.0, 0.0)
+    fast = get_toyota_corolla_tss2_friction_threshold(30.0, 0.0, 0.0)
+    assert center > base
+    assert curve < center
+    assert slow < center
+    assert fast < center
+
   def test_flm_standard_friction_curve_override(self):
     base = get_standard_friction_threshold(10.0)
     overrides = normalize_flm_overrides({