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pedal surge

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firestar5683
2026-05-08 01:11:41 -05:00
parent 1fbd6ecdfa
commit b0bba1917f
1 changed files with 3 additions and 0 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
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@@ -342,6 +342,9 @@ class CarController(CarControllerBase):
else:
urgency = float(np.clip(abs(accel) / 2.0, 0.0, 1.0))
rate_up = np.interp(v_ego, [0.0, 3.0, 8.0, 20.0], [0.007, 0.012, 0.022, 0.036]) + 0.011 * urgency
if accel > 0.0 and v_ego > 6.0:
comfort_factor = np.interp(abs(accel), [0.0, 0.12, 0.25, 0.45, 0.8], [0.55, 0.58, 0.68, 0.82, 1.0])
rate_up *= comfort_factor
if accel > 1.2:
rate_up += np.interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.006, 0.005, 0.003, 0.002])
rate_down = np.interp(v_ego, [0.0, 3.0, 8.0, 20.0], [0.008, 0.014, 0.026, 0.045]) + 0.015 * urgency