2022 tune

selfdrive/controls/lib/latcontrol_torque.py

@@ -97,6 +97,31 @@ BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
 BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
 BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
 
+BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
+BOLT_2022_2023_FF_GAIN_LEFT = 0.11
+BOLT_2022_2023_FF_GAIN_RIGHT = 0.08
+BOLT_2022_2023_FF_ONSET = 0.12
+BOLT_2022_2023_FF_ONSET_WIDTH = 0.07
+BOLT_2022_2023_FF_CUTOFF = 1.35
+BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
+BOLT_2022_2023_TRANSITION_SPEED = 9.0
+BOLT_2022_2023_PHASE_SCALE = 0.12
+BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.05
+BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.10
+BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.24
+BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.20
+BOLT_2022_2023_FRICTION_MULT = 1.15
+BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
+BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
+BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
+BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.11
+BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
+BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.13
+BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.04
+BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
+BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
+
 
 def get_friction_threshold(v_ego: float) -> float:
   # Keep the speed-scaled friction threshold behavior.
@@ -221,6 +246,78 @@ def get_bolt_2018_2021_friction_scale(v_ego: float, desired_lateral_accel: float
   return min(max(friction_scale, 0.88), 1.10)
 
 
+def bolt_2022_2023_lateral_testing_ground_active() -> bool:
+  return testing_ground.use(BOLT_2022_2023_LATERAL_TESTING_GROUND_ID)
+
+
+def _bolt_2022_2023_sigmoid(x: float) -> float:
+  return 1.0 / (1.0 + math.exp(-x))
+
+
+def _bolt_2022_2023_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2022_2023_TRANSITION_SPEED) ** 2)
+
+
+def _bolt_2022_2023_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2022_2023_PHASE_SCALE)
+
+
+def _bolt_2022_2023_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def _bolt_2022_2023_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2022_2023_FRICTION_LAT_RISE)
+  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2022_2023_FRICTION_JERK_RISE)
+  return _bolt_2022_2023_low_speed_factor(v_ego) * lat_factor * jerk_factor
+
+
+def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  gain = _bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_FF_GAIN_LEFT, BOLT_2022_2023_FF_GAIN_RIGHT)
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _bolt_2022_2023_sigmoid((abs_lateral_accel - BOLT_2022_2023_FF_ONSET) / BOLT_2022_2023_FF_ONSET_WIDTH)
+  cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH)
+  extra_scale = gain * onset * cutoff
+  low_speed_factor = _bolt_2022_2023_low_speed_factor(v_ego)
+  phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  turn_in_boost = 1.0 + (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_BOOST_LEFT, BOLT_2022_2023_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * low_speed_factor)
+  unwind_taper = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_TAPER_LEFT, BOLT_2022_2023_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.55 + 0.45 * low_speed_factor))
+  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+
+
+def get_bolt_2022_2023_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
+  base_threshold = get_friction_threshold(v_ego)
+  transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  threshold_scale = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
+                           transition_envelope * turn_in_weight)
+  threshold_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT, BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT) *
+                      transition_envelope * unwind_weight)
+  return base_threshold * min(max(threshold_scale, 0.84), 1.14)
+
+
+def get_bolt_2022_2023_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  friction_scale = BOLT_2022_2023_FRICTION_MULT
+  friction_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT) *
+                     transition_envelope * turn_in_weight)
+  friction_scale -= (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT) *
+                     transition_envelope * unwind_weight)
+  return min(max(friction_scale, 0.92), 1.22)
+
+
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
@@ -326,10 +423,15 @@ class LatControlTorque(LatControl):
         ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
                              [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
         ff *= ff_scale
+      bolt_2022_2023_test_active = self.is_bolt_2022_2023 and bolt_2022_2023_lateral_testing_ground_active()
       bolt_2018_2021_test_active = self.is_bolt_2018_2021 and bolt_2018_2021_lateral_testing_ground_active()
       friction_threshold = get_friction_threshold(CS.vEgo)
       friction_scale = 1.0
-      if bolt_2018_2021_test_active:
+      if bolt_2022_2023_test_active:
+        ff *= get_bolt_2022_2023_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_bolt_2022_2023_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = get_bolt_2022_2023_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif bolt_2018_2021_test_active:
         friction_threshold = get_bolt_2018_2021_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_bolt_2018_2021_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
       ff += friction_scale * get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, friction_threshold, self.torque_params)

selfdrive/controls/tests/test_latcontrol.py

@@ -17,6 +17,9 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_friction_threshold,
   get_bolt_2017_base_torque_scale,
   get_bolt_2017_torque_scale,
+  get_bolt_2022_2023_ff_scale,
+  get_bolt_2022_2023_friction_scale,
+  get_bolt_2022_2023_friction_threshold,
   get_bolt_2018_2021_dynamic_torque_scale,
   get_bolt_2018_2021_friction_scale,
   get_bolt_2018_2021_friction_threshold,
@@ -85,6 +88,29 @@ class TestLatControl:
     assert left_turn_in > right_turn_in > base
     assert base > left_unwind > right_unwind
 
+  def test_bolt_2022_2023_ff_scale_curve(self):
+    assert get_bolt_2022_2023_ff_scale(0.0, 0.0, 20.0) == 1.0
+    assert get_bolt_2022_2023_ff_scale(0.5, 0.0, 20.0) > get_bolt_2022_2023_ff_scale(-0.5, 0.0, 20.0)
+    assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 8.0)
+    assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 8.0) < get_bolt_2022_2023_ff_scale(0.6, 0.0, 8.0)
+
+  def test_bolt_2022_2023_friction_threshold_curve(self):
+    base = get_friction_threshold(6.0)
+    left_turn_in = get_bolt_2022_2023_friction_threshold(6.0, 0.7, 0.8)
+    right_turn_in = get_bolt_2022_2023_friction_threshold(6.0, -0.7, -0.8)
+    left_unwind = get_bolt_2022_2023_friction_threshold(6.0, 0.7, -0.8)
+    right_unwind = get_bolt_2022_2023_friction_threshold(6.0, -0.7, 0.8)
+    assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
+
+  def test_bolt_2022_2023_friction_scale_curve(self):
+    base = get_bolt_2022_2023_friction_scale(25.0, 0.7, 0.8)
+    left_turn_in = get_bolt_2022_2023_friction_scale(6.0, 0.7, 0.8)
+    right_turn_in = get_bolt_2022_2023_friction_scale(6.0, -0.7, -0.8)
+    left_unwind = get_bolt_2022_2023_friction_scale(6.0, 0.7, -0.8)
+    right_unwind = get_bolt_2022_2023_friction_scale(6.0, -0.7, 0.8)
+    assert right_turn_in > left_turn_in > base
+    assert base > right_unwind > left_unwind
+
   def test_bolt_2017_testing_ground_update_path(self, monkeypatch):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_CC_2017)
     monkeypatch.setattr(latcontrol_torque, "bolt_2017_lateral_testing_ground_active", lambda: True)
@@ -101,6 +127,14 @@ class TestLatControl:
 
     assert lac_log.active
 
+  def test_bolt_2022_2023_testing_ground_update_path(self, monkeypatch):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_ACC_2022_2023)
+    monkeypatch.setattr(latcontrol_torque, "bolt_2022_2023_lateral_testing_ground_active", lambda: True)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert lac_log.active
+
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
                          (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_ACC_2022_2023, LatControlTorque)])
   def test_saturation(self, car_name, controller):

starpilot/common/testing_grounds.py

@@ -61,10 +61,10 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
   },
   {
     "id": TESTING_GROUND_5,
-    "name": "Unused",
-    "description": "",
-    "aLabel": "A",
-    "bLabel": "B",
+    "name": "Bolt 22-23 Lat Tune",
+    "description": "Bolt 2022-2023 lateral torque A/B sandbox.",
+    "aLabel": "A - Installed tune",
+    "bLabel": "B - 2022 lateral test",
   },
   {
     "id": TESTING_GROUND_6,