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firestar5683
2026-05-04 10:38:55 -05:00
parent d7ec15bddb
commit f132bd7b82
2 changed files with 14 additions and 14 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+10 -10
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@@ -222,8 +222,8 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
IONIQ_6_FF_GAIN_LEFT = 0.040
IONIQ_6_FF_GAIN_RIGHT = 0.000
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.15
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.30
IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.22
IONIQ_6_BASE_FRICTION_THRESHOLD = 0.34
IONIQ_6_FF_ONSET = 0.10
IONIQ_6_FF_ONSET_WIDTH = 0.04
IONIQ_6_FF_CUTOFF = 0.48
@@ -259,14 +259,14 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
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 = 0.10
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.40
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.20
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.30
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.54
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.60
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.14
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.46
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.32
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.55
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.50
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.56
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.12
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.06
IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
selfdrive/controls/tests/test_latcontrol.py
+4 -4
View File
@@ -260,7 +260,7 @@ class TestLatControl:
assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
def test_ioniq_6_friction_threshold_curve(self):
base = max(get_friction_threshold(6.0), 0.30)
base = max(get_friction_threshold(6.0), 0.34)
left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -268,7 +268,7 @@ class TestLatControl:
assert max(left_turn_in, right_turn_in) < base
assert left_unwind >= base
assert right_unwind >= base
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.30
assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.34
def test_ioniq_6_friction_scale_curve(self):
base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
@@ -369,7 +369,7 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
assert lac_log.active
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.15)
assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.22)
def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -438,7 +438,7 @@ class TestLatControl:
assert steady_left < 1.0
assert steady_right < 1.0
assert steady_left < steady_right
assert steady_right < steady_left
assert turn_in_left > steady_left
assert turn_in_right > steady_right
assert unwind_left < steady_left