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GM: cleanup torque feedforward function (#27347)

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no numpy
old-commit-hash: 8c099dd4e5adf040f7f454714cf729725bee7f91
This commit is contained in:
Shane Smiskol
2023-02-14 22:06:23 -08:00
committed by GitHub
parent cc456ad691
commit 7357149f5a
1 changed files with 7 additions and 8 deletions
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selfdrive/car/gm/interface.py
+7 -8
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@@ -1,5 +1,4 @@
#!/usr/bin/env python3
import numpy as np
from cereal import car
from math import fabs
from panda import Panda
@@ -59,23 +58,23 @@ class CarInterface(CarInterfaceBase):
# TODO:
# 1. Learn the correction factors from data
# 2. Generalize the logic to other GM torque control platforms
steer_break_pts = np.array([-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0])
steer_lataccel_factors = np.array([1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5])
steer_correction_factor = np.interp(
steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0]
steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5]
steer_correction_factor = interp(
steer_torque,
steer_break_pts,
steer_lataccel_factors
)
vego_break_pts = np.array([0.0, 10.0, 15.0, 20.0, 100.0])
vego_lataccel_factors = np.array([1.5, 1.5, 1.25, 1.0, 1.0])
vego_correction_factor = np.interp(
vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0]
vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0]
vego_correction_factor = interp(
vego,
vego_break_pts,
vego_lataccel_factors,
)
return float((steer_torque + friction) / (steer_correction_factor * vego_correction_factor))
return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor)
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.BOLT_EUV: