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Deadzone boost

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This commit is contained in:
firestar5683
2026-02-28 21:55:29 -06:00
parent 90f19e7632
commit b8b51272da
3 changed files with 12 additions and 15 deletions
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selfdrive/car/gm/interface.py
+5 -5
View File
@@ -57,8 +57,8 @@ NON_LINEAR_TORQUE_PARAMS = {
"right": [2.0, 1.0, 0.205, 0.0],
},
CAR.CHEVROLET_BOLT_CC_2017: {
"left": [2.15, 1.0, 0.13, 0.0],
"right": [2.15, 1.0, 0.15, 0.0],
"left": [2.15, 1.02, 0.129, 0.0],
"right": [2.15, 1.02, 0.145, 0.0],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
@@ -391,10 +391,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.torque.kd *= 0.93
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
ret.lateralTuning.torque.kp *= 0.9
ret.lateralTuning.torque.kp *= 1.0
ret.lateralTuning.torque.ki *= 0.9
ret.lateralTuning.torque.kd *= 0.85
ret.lateralTuning.torque.kfDEPRECATED = 0.0
ret.lateralTuning.torque.kd *= 0.9
ret.lateralTuning.torque.kfDEPRECATED = 0.02
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
if ret.enableGasInterceptor:
selfdrive/car/torque_data/override.toml
+1 -1
View File
@@ -45,7 +45,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CADILLAC_XT6" = [1.33, 1.9, 0.16]
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.13]
"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.13]
"CHEVROLET_BOLT_CC_2017" = [1.2, 2.0, 0.19]
"CHEVROLET_BOLT_CC_2019_2021" = [2.0, 2.0, 0.13]
"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
selfdrive/controls/lib/latcontrol_torque.py
+6 -9
View File
@@ -39,7 +39,7 @@ LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 2
DEBUG_TORQUE_TUNE = False
FF_SCALE_BLEND_LAT_ACCEL = 0.05
DEADZONE_BOOST_LAT_ACCEL = 0.08
DEADZONE_BOOST_LAT_ACCEL = 0.12
UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
@@ -83,17 +83,15 @@ class LatControlTorque(LatControl):
self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
# Keep Bolt-specific FF controls isolated by generation.
self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.use_bolt_deadzone_boost = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.use_bolt_ki_multiplier = self.is_bolt_2022_2023 or self.is_bolt_2019_2021 or self.is_bolt_2017
self.torque_ff_scale_pos = 1.0
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost_neg = 0.0
self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
self.torque_ki_mult = 1.0
if self.is_bolt:
self.torque_ff_scale_pos = float(self.torque_params.kp)
self.torque_ff_scale_neg = float(self.torque_params.ki)
self.torque_ki_mult = float(self.torque_params.kd)
self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
@@ -163,11 +161,10 @@ class LatControlTorque(LatControl):
ff *= ff_scale
ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
deadzone_boost_active = False
if self.use_bolt_deadzone_boost and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
ff -= self.torque_deadzone_boost_neg * boost_scale
deadzone_boost_active = True
if self.torque_deadzone_boost > 0.0 and abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
ff += np.sign(gravity_adjusted_future_lateral_accel) * self.torque_deadzone_boost * boost_scale
deadzone_boost_active = True
if CS.vEgo < self.low_speed_reset_threshold:
self.pid.reset()