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ravbob

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firestar5683
2026-09-10 22:26:20 -05:00
parent f1cb143bd7
commit be263a6fa1
2 changed files with 18 additions and 6 deletions
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selfdrive/controls/lib/longitudinal_vehicle_tunes.py
+9 -6
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@@ -64,10 +64,10 @@ TOYOTA_SIENNA_POST_DEPARTURE_RESTOP_MAX_BRAKE = 0.32
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_EGO_SPEED = 12.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_MODEL_PROB = 0.85
TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_LATERAL_OFFSET = 1.2
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_DISTANCE = 45.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_DISTANCE = 30.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_DISTANCE = 105.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_CLOSING_SPEED = 4.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_BRAKE = 0.8
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_CLOSING_SPEED = 0.75
TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_BRAKE = 0.35
TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_BRAKE = 2.0
TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_DECEL = 0.5
TOYOTA_RAV4_TSS2_RADAR_FOLLOW_MIN_SPEED = 5.0
@@ -77,8 +77,8 @@ TOYOTA_RAV4_TSS2_RADAR_FOLLOW_MAX_DISTANCE = 100.0
TOYOTA_RAV4_TSS2_RADAR_FOLLOW_DISTANCE_TIME = 4.5
TOYOTA_RAV4_TSS2_RADAR_FOLLOW_DISTANCE_OFFSET = 32.0
TOYOTA_RAV4_TSS2_RADAR_FOLLOW_MAX_LATERAL_OFFSET = 1.75
TOYOTA_RAV4_TSS2_FAR_FOLLOW_BRAKE_SLEW_RATE = 2.5
TOYOTA_RAV4_TSS2_FAR_FOLLOW_RELEASE_SLEW_RATE = 1.75
TOYOTA_RAV4_TSS2_FAR_FOLLOW_BRAKE_SLEW_RATE = 2.0
TOYOTA_RAV4_TSS2_FAR_FOLLOW_RELEASE_SLEW_RATE = 1.25
TOYOTA_RAV4_TSS2_LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL = 0.70
TOYOTA_RAV4_TSS2_LEAD_DEPART_ACCEL_ASSIST = 0.20
TOYOTA_RAV4_TSS2_LEAD_CREEP_MIN_LEAD_SPEED = 0.15
@@ -427,7 +427,10 @@ def get_toyota_rav4_tss2_early_lead_cap(CP, lead, v_ego, accel_min):
(TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_DISTANCE - TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_DISTANCE),
0.0, 1.0,
)
closing_factor = np.clip((closing_speed - 4.0) / 6.0, 0.0, 1.0)
closing_factor = np.clip(
(closing_speed - TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_CLOSING_SPEED) / 4.0,
0.0, 1.0,
)
brake_factor = np.clip(
(lead_brake - TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_BRAKE) /
(TOYOTA_RAV4_TSS2_EARLY_LEAD_MAX_BRAKE - TOYOTA_RAV4_TSS2_EARLY_LEAD_MIN_BRAKE),
selfdrive/controls/tests/test_longitudinal_planner.py
+9
View File
@@ -3454,6 +3454,15 @@ def test_rav4_tss2_early_lead_cap_starts_a_mild_response():
assert -0.5 <= cap < 0.0
def test_rav4_tss2_early_lead_cap_handles_moderate_closing_before_hard_approach():
CP = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2023)
lead = make_lead(status=True, d_rel=35.0, v_lead=16.4, a_lead=-0.5, model_prob=0.99)
cap = get_toyota_rav4_tss2_early_lead_cap(CP, lead, 17.4, -3.5)
assert cap == pytest.approx(-0.30, abs=0.03)
def test_rav4_tss2_early_lead_cap_does_not_change_other_paths():
rav4 = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2023)
other = ToyotaCarInterface.get_non_essential_params(TOYOTA_CAR.TOYOTA_RAV4_TSS2_2022)