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honda

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firestar5683
2026-05-03 19:08:20 -05:00
parent 7f03e2880c
commit a9d57b521e
2 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/latcontrol_pid.py
+3 -3
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@@ -22,9 +22,9 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
is_left = desired_angle_deg > 0.0
center_taper = 0.32
base_scale = 0.10 if is_left else 0.12
turn_in_scale = 0.10 if is_left else 0.14
unwind_scale = 0.14 if is_left else 0.20
base_scale = 0.12 if is_left else 0.10
turn_in_scale = 0.12 if is_left else 0.12
unwind_scale = 0.14 if is_left else 0.18
scale = 1.0 - (center_speed_weight * center_weight * center_taper)
scale += speed_weight * angle_weight * base_scale
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -396,7 +396,7 @@ class TestLatControl:
assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)
assert abs(get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) - get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)) < 5e-3
assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 4.0) < get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0)
def test_civic_bosch_modified_pid_output_alpha_curve(self):