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Corolla

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This commit is contained in:
firestar5683
2026-09-22 16:18:40 -05:00
parent 399a40ca22
commit ecda0c61d9
2 changed files with 25 additions and 2 deletions
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opendbc_repo/opendbc/car/toyota/carcontroller.py
+7 -1
View File
@@ -47,6 +47,7 @@ TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
MAX_STEER_RATE = 100 # deg/s
MAX_STEER_RATE_FRAMES = 17 # tx control frames needed before torque can be cut
COROLLA_MAX_STEER_RATE = 80
# EPS allows user torque above threshold for 50 frames before permanently faulting
MAX_USER_TORQUE = 500
@@ -81,6 +82,10 @@ def get_toyota_lat_active(requested_active: bool, steering_torque: float) -> boo
return requested_active and abs(steering_torque) < MAX_USER_TORQUE
def get_toyota_steer_rate_limit(car_fingerprint) -> int:
return COROLLA_MAX_STEER_RATE if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
return (
auto_hold_enabled and
@@ -248,6 +253,7 @@ class CarController(CarControllerBase):
self.standstill_req = False
self.permit_braking = True
self.steer_rate_counter = 0
self.steer_rate_limit = get_toyota_steer_rate_limit(self.CP.carFingerprint)
self.distance_button = 0
# *** start long control state ***
@@ -366,7 +372,7 @@ class CarController(CarControllerBase):
# >100 degree/sec steering fault prevention
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
abs(CS.out.steeringRateDeg) >= self.steer_rate_limit, lat_active,
self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
)
opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
+18 -1
View File
@@ -12,7 +12,7 @@ from opendbc.car.toyota import toyotacan
from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
get_prius_positive_feedforward_scale, \
get_rav4_interceptor_pedal_scale, \
get_toyota_lat_active, \
get_toyota_lat_active, get_toyota_steer_rate_limit, \
MAX_STEER_RATE, MAX_STEER_RATE_FRAMES, MAX_USER_TORQUE, \
limit_interceptor_pcm_accel, \
limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
@@ -758,6 +758,23 @@ class TestToyotaCarController:
requests.append(request)
assert requests == ([True] * 17 + [False]) * 2
@pytest.mark.parametrize("candidate", list(CAR))
def test_steer_rate_margin_is_corolla_only(self, candidate):
expected = 80 if candidate == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
assert get_toyota_steer_rate_limit(candidate) == expected
@pytest.mark.parametrize("direction", [-1, 1])
def test_corolla_rate_margin_preserves_request_spacing(self, direction):
counter = 0
requests = []
for rate in [0] * 30 + [90 * direction] * 36 + [0] * 30:
counter, request = common_fault_avoidance(
abs(rate) >= get_toyota_steer_rate_limit(CAR.TOYOTA_COROLLA_TSS2),
get_toyota_lat_active(True, 117 * direction), counter, MAX_STEER_RATE_FRAMES,
)
requests.append(request)
assert requests == [True] * 30 + ([True] * 17 + [False]) * 2 + [True] * 30
@staticmethod
def _make_controller(*, standstill_req=False, last_standstill=False):
controller = CarController.__new__(CarController)