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ioniq 6

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firestar5683
2026-04-24 22:22:34 -05:00
parent 317be3b383
commit be87ecec3e
2 changed files with 16 additions and 16 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+15 -15
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@@ -203,33 +203,33 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
IONIQ_6_FF_GAIN_LEFT = 0.045
IONIQ_6_FF_GAIN_RIGHT = 0.008
IONIQ_6_FF_GAIN_LEFT = 0.050
IONIQ_6_FF_GAIN_RIGHT = 0.006
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.60
IONIQ_6_FF_CUTOFF_WIDTH = 0.14
IONIQ_6_FF_CUTOFF = 0.52
IONIQ_6_FF_CUTOFF_WIDTH = 0.12
IONIQ_6_TRANSITION_SPEED = 10.0
IONIQ_6_PHASE_SCALE = 0.10
IONIQ_6_TURN_IN_BOOST_LEFT = 0.42
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
IONIQ_6_UNWIND_TAPER_LEFT = 0.40
IONIQ_6_UNWIND_TAPER_RIGHT = 0.66
IONIQ_6_TURN_IN_BOOST_LEFT = 0.48
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.46
IONIQ_6_UNWIND_TAPER_LEFT = 0.54
IONIQ_6_UNWIND_TAPER_RIGHT = 0.84
IONIQ_6_FRICTION_MULT = 0.995
IONIQ_6_FRICTION_LAT_RISE = 0.20
IONIQ_6_FRICTION_JERK_RISE = 0.24
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.44
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.60
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
IONIQ_6_CENTER_TAPER_MAX = 0.025
IONIQ_6_CENTER_TAPER_LAT = 0.08
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.30
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.46
IONIQ_6_CENTER_TAPER_MAX = 0.015
IONIQ_6_CENTER_TAPER_LAT = 0.06
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
IONIQ_6_CENTER_TAPER_SPEED = 22.0
IONIQ_6_CENTER_TAPER_SPEED = 24.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
selfdrive/controls/tests/test_latcontrol.py
+1 -1
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@@ -230,7 +230,7 @@ class TestLatControl:
left_unwind = get_ioniq_6_friction_scale(6.0, 0.5, -0.8)
right_unwind = get_ioniq_6_friction_scale(6.0, -0.5, 0.8)
assert left_turn_in > right_turn_in > base
assert base > left_unwind > right_unwind
assert base > left_unwind >= right_unwind
def test_ioniq_6_center_taper_curve(self):
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)