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prius

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firestar5683
2026-04-14 21:29:04 -05:00
parent 3c3a2a6d1a
commit d4f2cd3e37
1 changed files with 5 additions and 3 deletions
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opendbc_repo/opendbc/car/toyota/carcontroller.py
+5 -3
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@@ -24,7 +24,8 @@ VisualAlert = structs.CarControl.HUDControl.VisualAlert
ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3 # m/s^2 / frame
ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3 # m/s^2 / frame
ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3 # m/s^2 / frame
PRIUS_INTEGRAL_MISMATCH_UNWIND = 4.0
PRIUS_INTEGRAL_MISMATCH_UNWIND = 8.0
PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.5
MAX_PITCH_COMPENSATION = 1.5 # m/s^2
@@ -267,8 +268,9 @@ class CarController(CarControllerBase):
feedforward = pcm_accel_cmd
if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
# Preserve the smoother positive handoff, but let braking feedforward pull speed back down.
feedforward = min(feedforward, 0.0)
# Keep Prius positive handoffs softer than the stock tune, while restoring some launch authority.
if feedforward > 0.0:
feedforward *= PRIUS_POSITIVE_FEEDFORWARD_SCALE
pcm_accel_cmd = self.long_pid.update(error_future,
speed=CS.out.vEgo,