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Ioniq 6 Long Tune

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firestar5683
2026-04-27 13:05:38 -05:00
parent 43a5c09412
commit e24520254b
6 changed files with 218 additions and 15 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+22 -7
View File
@@ -226,18 +226,22 @@ IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.42
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.96
IONIQ_6_CENTER_TAPER_MAX = 0.020
IONIQ_6_CENTER_TAPER_LAT = 0.08
IONIQ_6_CENTER_TAPER_MAX = 0.026
IONIQ_6_CENTER_TAPER_LAT = 0.11
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_DIRECTIONAL_TAPER_LAT_START = 0.22
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.18
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.30
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.05
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.18
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.18
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.52
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.62
IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.78
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
@@ -765,6 +769,15 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
return max(1.0 - reduction, 0.70)
def get_ioniq_6_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_OUTPUT_TAPER_SPEED) / IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH)
center_taper = get_ioniq_6_center_taper_scale(desired_lateral_accel, v_ego)
directional_taper = get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk)
center_scale = 1.0 - ((1.0 - center_taper) * IONIQ_6_OUTPUT_CENTER_TAPER_BLEND * speed_weight)
directional_scale = 1.0 - ((1.0 - directional_taper) * IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND * speed_weight)
return center_scale * directional_scale
def kia_ev6_lateral_testing_ground_active() -> bool:
return testing_ground.use(KIA_EV6_LATERAL_TESTING_GROUND_ID, KIA_EV6_LATERAL_TESTING_GROUND_VARIANT)
@@ -1079,6 +1092,8 @@ class LatControlTorque(LatControl):
output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif volt_standard_test_active:
output_torque *= volt_standard_center_taper
elif ioniq_6_test_active:
output_torque *= get_ioniq_6_output_taper_scale(setpoint, desired_lateral_jerk, CS.vEgo)
pid_log.active = True
pid_log.p = float(self.pid.p)
selfdrive/controls/tests/test_latcontrol.py
+9 -2
View File
@@ -32,6 +32,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_genesis_g90_friction_threshold,
get_ioniq_6_center_taper_scale,
get_ioniq_6_directional_taper_scale,
get_ioniq_6_output_taper_scale,
get_ioniq_6_ff_scale,
get_ioniq_6_friction_scale,
get_ioniq_6_friction_threshold,
@@ -182,7 +183,7 @@ class TestLatControl:
def test_genesis_g90_ff_scale_curve(self):
assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_genesis_g90_ff_scale(-0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(0.5, 0.0, 20.0)
assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)
assert get_genesis_g90_ff_scale(0.6, 0.7, 8.0) > get_genesis_g90_ff_scale(0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(0.6, -0.7, 8.0)
assert get_genesis_g90_ff_scale(-0.6, -0.7, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.0, 8.0) > get_genesis_g90_ff_scale(-0.6, 0.7, 8.0)
assert get_genesis_g90_ff_scale(2.0, 0.0, 20.0) < get_genesis_g90_ff_scale(0.8, 0.0, 20.0)
@@ -218,7 +219,13 @@ class TestLatControl:
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(1.2, 0.0) > 0.98
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(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
base = get_friction_threshold(6.0)