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firestar5683
2026-05-08 10:10:16 -05:00
parent b0bba1917f
commit 930ef6e646
2 changed files with 12 additions and 12 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+11 -11
View File
@@ -49,13 +49,13 @@ MIN_LATERAL_CONTROL_SPEED = 0.3
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.32
CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.36
CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0
CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.08
CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18
CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH = 0.07
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.00
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH = 0.30
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.35
CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH = 0.38
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.14
CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.24
CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.04
@@ -76,16 +76,16 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.07
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.26
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.38
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.06
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 1.55
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.95
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.30
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.42
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.04
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.04
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 2.00
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 2.30
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 1.05
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.40
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 1.30
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 1.65
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -489,7 +489,7 @@ class TestLatControl:
monkeypatch.setattr(latcontrol_torque, "civic_bosch_modified_lateral_testing_ground_active", lambda: True)
variant_controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.32)
assert variant_controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.20 * 1.36)
def test_modified_civic_b_torque_ff_scale_curve(self):
steady_left = get_civic_bosch_modified_b_ff_scale(0.5, 0.0, 12.0)