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firestar5683
2026-02-03 11:02:08 -06:00
parent 0f09e149ec
commit d9ca40bc22
1 changed files with 10 additions and 10 deletions
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selfdrive/car/gm/interface.py
+10 -10
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@@ -28,20 +28,20 @@ ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
"left": [1.85, 1.8, 0.1, 0, 0.3],
"right": [1.85, 1.8, 0.1, 0, 0.3],
},
CAR.CHEVROLET_BOLT_CC: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
"left": [1.85, 1.8, 0.1, 0, 0.3],
"right": [1.85, 1.8, 0.1, 0, 0.3],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
"right": [4.78003305, 1.0, 0.3122, 0.05591772],
"left": [4.78003305, 1.0, 0.3122, 0.05591772, 0.],
"right": [4.78003305, 1.0, 0.3122, 0.05591772, 0.],
},
CAR.CHEVROLET_SILVERADO: {
"left": [3.29974374, 1.0, 0.25571356, 0.0465122],
"right": [3.29974374, 1.0, 0.25571356, 0.0465122],
"left": [3.29974374, 1.0, 0.25571356, 0.0465122, 0.],
"right": [3.29974374, 1.0, 0.25571356, 0.0465122, 0.],
},
}
@@ -74,8 +74,8 @@ class CarInterface(CarInterfaceBase):
assert non_linear_torque_params, "The params are not defined"
# Left is positive
side_key = "left" if lateral_acceleration >= 0 else "right"
a, b, c, d = non_linear_torque_params[side_key]
sig_input = a * lateral_acceleration
a, b, c, d, e = non_linear_torque_params[side_key]
sig_input = a * lateral_acceleration + e
sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
steer_torque = (sig * b) + (lateral_acceleration * c) + d
return float(steer_torque)