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is it hi-yun-dae?

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firestar5683
2026-06-21 22:19:04 -05:00
parent 32a6af9ac8
commit c91ac533ef
1 changed files with 9 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+9 -2
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@@ -522,7 +522,7 @@ IONIQ_6_CENTER_TAPER_LAT = 0.24
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
IONIQ_6_CENTER_TAPER_SPEED = 18.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.034
IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.038
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.09
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5
@@ -564,6 +564,9 @@ IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR = 2.4
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH = 1.35
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE = 6.5
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH = 2.6
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START = 0.58
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH = 0.14
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR = 0.18
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_BP = [0.0, 0.35, 0.65, 1.0]
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_V = [1.0, 1.0, 0.82, 0.0]
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_MAX_TORQUE = 0.26
@@ -1898,7 +1901,11 @@ def get_ioniq_6_low_speed_angle_assist_torque(desired_angle_deg: float, actual_a
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH)
desired_angle_weight = _ioniq_6_sigmoid((abs(desired_angle_deg) - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE) /
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH)
assist_torque = math.copysign(IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE * speed_weight * error_weight * desired_angle_weight, -angle_error)
tracking_ratio = abs(actual_angle_deg) / max(abs(desired_angle_deg), 1e-3)
tracking_taper = _ioniq_6_sigmoid((tracking_ratio - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START) /
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH)
tracking_scale = max(1.0 - tracking_taper, IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR)
assist_torque = math.copysign(IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE * speed_weight * error_weight * desired_angle_weight * tracking_scale, -angle_error)
if abs(assist_torque) < 1e-4:
return current_output_torque