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ev6

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firestar5683
2026-05-28 14:19:03 -05:00
parent b23b4384f1
commit f06c82b2b8
2 changed files with 9 additions and 9 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+8 -8
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@@ -444,7 +444,7 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
KIA_EV6_FF_GAIN_LEFT = 0.07
KIA_EV6_FF_GAIN_RIGHT = 0.085
KIA_EV6_FF_GAIN_RIGHT = 0.075
KIA_EV6_FF_ONSET = 0.08
KIA_EV6_FF_ONSET_WIDTH = 0.04
KIA_EV6_FF_CUTOFF = 0.60
@@ -452,20 +452,20 @@ KIA_EV6_FF_CUTOFF_WIDTH = 0.14
KIA_EV6_TRANSITION_SPEED = 11.0
KIA_EV6_PHASE_SCALE = 0.09
KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.22
KIA_EV6_UNWIND_TAPER_LEFT = 0.34
KIA_EV6_UNWIND_TAPER_RIGHT = 0.44
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.16
KIA_EV6_UNWIND_TAPER_LEFT = 0.40
KIA_EV6_UNWIND_TAPER_RIGHT = 0.36
KIA_EV6_FRICTION_MULT = 1.01
KIA_EV6_FRICTION_LAT_RISE = 0.18
KIA_EV6_FRICTION_JERK_RISE = 0.22
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.22
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
KIA_EV6_CENTER_TAPER_MAX = 0.08
KIA_EV6_CENTER_TAPER_LAT = 0.16
KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
selfdrive/controls/tests/test_latcontrol.py
+1 -1
View File
@@ -426,7 +426,7 @@ class TestLatControl:
right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
assert right_turn_in < left_turn_in < base < left_unwind < right_unwind
assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
def test_kia_ev6_friction_scale_curve(self):
base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)