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firestar5683
2026-04-29 11:33:57 -05:00
parent f27069f2d2
commit e19f7d29b4
2 changed files with 27 additions and 28 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+22 -22
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@@ -211,39 +211,39 @@ IONIQ_6_FF_CUTOFF = 0.48
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 = 0.58
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.42
IONIQ_6_UNWIND_TAPER_LEFT = 0.94
IONIQ_6_UNWIND_TAPER_RIGHT = 1.74
IONIQ_6_TURN_IN_BOOST_LEFT = 0.66
IONIQ_6_TURN_IN_BOOST_RIGHT = 0.50
IONIQ_6_UNWIND_TAPER_LEFT = 1.08
IONIQ_6_UNWIND_TAPER_RIGHT = 1.92
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 = 0.14
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.72
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.56
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.06
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.60
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.28
IONIQ_6_CENTER_TAPER_MAX = 0.032
IONIQ_6_CENTER_TAPER_LAT = 0.13
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.84
IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.74
IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.07
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.72
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.44
IONIQ_6_CENTER_TAPER_MAX = 0.036
IONIQ_6_CENTER_TAPER_LAT = 0.15
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
IONIQ_6_CENTER_TAPER_SPEED = 18.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.024
IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.16
IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.032
IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.18
IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 9.5
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 14.0
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 9.0
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 15.0
IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.0
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.02
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.30
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.28
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.86
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.34
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.34
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.96
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.70
selfdrive/controls/tests/test_latcontrol.py
+5 -6
View File
@@ -153,7 +153,7 @@ class TestLatControl:
def test_volt_standard_ff_scale_curve(self):
assert get_volt_standard_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) > get_volt_standard_ff_scale(0.5, 0.0, 20.0)
assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) >= get_volt_standard_ff_scale(0.5, 0.0, 20.0)
assert get_volt_standard_ff_scale(0.6, 0.7, 8.0) > get_volt_standard_ff_scale(0.6, 0.0, 8.0) > get_volt_standard_ff_scale(0.6, -0.7, 8.0)
assert get_volt_standard_ff_scale(-0.6, -0.7, 8.0) > get_volt_standard_ff_scale(-0.6, 0.0, 8.0) > get_volt_standard_ff_scale(-0.6, 0.7, 8.0)
assert get_volt_standard_ff_scale(2.0, 0.0, 20.0) < get_volt_standard_ff_scale(0.8, 0.0, 20.0)
@@ -212,20 +212,19 @@ class TestLatControl:
assert get_ioniq_6_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(1.2, 0.0, 20.0)
assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
assert abs(get_ioniq_6_ff_scale(1.2, 0.0, 20.0) - 1.0) < 0.02
def test_ioniq_6_directional_taper_curve(self):
assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.0) < get_ioniq_6_directional_taper_scale(0.5, 0.0) < 1.0
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) < get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) <= get_ioniq_6_directional_taper_scale(-0.5, 0.0)
assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.96
def test_ioniq_6_output_taper_curve(self):
assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.5, 0.0, 25.0) < 1.0
assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) < get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) <= get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
@@ -251,7 +250,7 @@ class TestLatControl:
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1e-3
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 3e-3
def test_kia_ev6_ff_scale_curve(self):
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0