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nissan

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firestar5683
2026-07-15 08:08:08 -05:00
parent 6a19e82bb2
commit b0334c2ae5
1 changed files with 13 additions and 2 deletions
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opendbc_repo/opendbc/car/nissan/carcontroller.py
+13 -2
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@@ -1,5 +1,8 @@
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, structs
from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.car.lateral import apply_std_steer_angle_limits
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.nissan import nissancan
@@ -13,6 +16,7 @@ class CarController(CarControllerBase):
super().__init__(dbc_names, CP)
self.car_fingerprint = CP.carFingerprint
self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
self.apply_angle_last = 0
self.packer = CANPacker(dbc_names[Bus.pt])
@@ -27,8 +31,15 @@ class CarController(CarControllerBase):
### STEER ###
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
# Nissan EPS is sensitive to jitter in angle requests at low speed and high steering angles.
if CC.latActive:
self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
self.angle_filter.update(actuators.steeringAngleDeg)
else:
self.angle_filter.x = actuators.steeringAngleDeg
# windup slower
self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
self.apply_angle_last = apply_std_steer_angle_limits(self.angle_filter.x, self.apply_angle_last, CS.out.vEgoRaw,
CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
lkas_max_torque = 0