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firestar5683
2026-01-15 17:27:21 -06:00
parent 77ae5b176a
commit b0de4d64b4
1 changed files with 19 additions and 5 deletions
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selfdrive/car/gm/interface.py
+19 -5
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@@ -27,10 +27,22 @@ CAM_MSG = 0x320 # AEBCmd
ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.27, 0.0],
CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.27, 0.0],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
CAR.CHEVROLET_BOLT_EUV: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [1.8, 1.0, 0.225, 0.0],
},
CAR.CHEVROLET_BOLT_CC: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [1.8, 1.0, 0.225, 0.0],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
"right": [4.78003305, 1.0, 0.3122, 0.05591772],
},
CAR.CHEVROLET_SILVERADO: {
"left": [3.29974374, 1.0, 0.25571356, 0.0465122],
"right": [3.29974374, 1.0, 0.25571356, 0.0465122],
},
}
@@ -60,7 +72,9 @@ class CarInterface(CarInterfaceBase):
# This has big effect on the stability about 0 (noise when going straight)
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
assert non_linear_torque_params, "The params are not defined"
a, b, c, d = non_linear_torque_params
# Left is positive
side_key = "left" if lateral_acceleration >= 0 else "right"
a, b, c, d = non_linear_torque_params[side_key]
sig_input = a * lateral_acceleration
sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
steer_torque = (sig * b) + (lateral_acceleration * c) + d