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Ford: simple rate limits (#27446)

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* simple limits

* add script

* useless

* remove script

* cleanup comments

* bump curvature limits

* divide by 20

* add comment

* add panda safety

* add back notebook with multi route support

* remove

* bump up low speed up

* comment
old-commit-hash: 3c55f49dd8ac74db9b64adc4c24536aa46dc8128
This commit is contained in:
Shane Smiskol
2023-04-18 23:27:49 -07:00
committed by GitHub
parent d8637d0dd3
commit 6d69fc17da
1 changed files with 5 additions and 4 deletions
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selfdrive/car/ford/values.py
+5 -4
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@@ -27,10 +27,11 @@ class CarControllerParams:
STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
# Curvature rate limits
# TODO: unify field names used by curvature and angle control cars
# ~2 m/s^3 up, ~-3 m/s^3 down
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])
# The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
# Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
# Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
ACCEL_MAX = 2.0 # m/s^s max acceleration
ACCEL_MIN = -3.5 # m/s^s max deceleration