toyota

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -32,7 +32,7 @@ TOYOTA_COAST_BRAKE_MIN_SPEED = 15.0  # m/s
 TOYOTA_COAST_BRAKE_ENABLE_ACCEL = -0.10  # m/s^2
 TOYOTA_COAST_BRAKE_DISABLE_ACCEL = -0.06  # m/s^2
 TOYOTA_NO_LEAD_COAST_BRAKE_ACCEL = -0.30  # m/s^2
-TOYOTA_INTERCEPTOR_COMFORT_TARGET_ACCEL = 1.0  # m/s^2
+TOYOTA_INTERCEPTOR_COMFORT_TARGET_ACCEL = 2.0  # m/s^2
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -91,7 +91,22 @@ def update_permit_braking(current: bool, net_acceleration_request_min: float, st
 
 
 def limit_interceptor_pcm_accel(pcm_accel_cmd: float, target_accel: float, stopping: bool, v_ego: float) -> float:
-  if stopping or abs(target_accel) > TOYOTA_INTERCEPTOR_COMFORT_TARGET_ACCEL:
+  if stopping:
+    return pcm_accel_cmd
+
+  # The Toyota long path should not cross the accel sign against a strong planner
+  # request on pedal/SDSU cars during ordinary driving.
+  if target_accel > 0.15 and pcm_accel_cmd < 0.0:
+    positive_floor = float(np.interp(v_ego, [0.0, 5.0, 15.0], [0.12, 0.08, 0.0]))
+    pcm_accel_cmd = max(pcm_accel_cmd, positive_floor)
+  elif target_accel < -0.15 and pcm_accel_cmd > 0.0:
+    negative_floor = float(np.interp(v_ego, [0.0, 5.0, 15.0], [-0.12, -0.08, 0.0]))
+    pcm_accel_cmd = min(pcm_accel_cmd, negative_floor)
+
+  if target_accel <= -1.6:
+    return pcm_accel_cmd
+
+  if abs(target_accel) > TOYOTA_INTERCEPTOR_COMFORT_TARGET_ACCEL:
     return pcm_accel_cmd
 
   lower_delta = float(np.interp(v_ego, [0.0, 5.0, 15.0], [0.20, 0.25, 0.35]))

opendbc_repo/opendbc/car/toyota/interface.py

@@ -156,6 +156,10 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & ToyotaFlags.HYBRID.value:
         ret.longitudinalActuatorDelay = 0.05
 
+    if ret.enableGasInterceptorDEPRECATED:
+      # Pedal/SDSU Toyotas feel best with a softer final stop clamp.
+      ret.stopAccel = -1.5
+
     return ret
 
   @staticmethod

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -338,10 +338,20 @@ class TestToyotaCarController:
 
   def test_interceptor_comfort_limit_bypasses_harder_braking(self):
     original = -1.80
-    limited = limit_interceptor_pcm_accel(original, -1.20, False, 8.5)
+    limited = limit_interceptor_pcm_accel(original, -1.80, False, 8.5)
 
     assert limited == original
 
+  def test_interceptor_comfort_limit_prevents_positive_target_from_crossing_negative(self):
+    limited = limit_interceptor_pcm_accel(-2.0, 1.7, False, 7.5)
+
+    assert limited >= 0.0
+
+  def test_interceptor_comfort_limit_prevents_negative_target_from_crossing_positive(self):
+    limited = limit_interceptor_pcm_accel(0.8, -0.7, False, 7.5)
+
+    assert limited <= 0.0
+
 
 class TestToyotaCarState:
   def test_interceptor_gas_pressed_threshold(self):