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smoothing hwy

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whoisdomi
2026-07-23 11:43:30 -05:00
parent 5dc1a31651
commit f429934bbb
2 changed files with 12 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+1 -1
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@@ -382,7 +382,7 @@ class LatControlTorque(LatControl):
friction_scale *= get_trailer_lateral_friction_scale(trailer_load_kg, CS.vEgo, setpoint)
friction_jerk = desired_lateral_jerk
if ioniq_6_active:
# planner jerk noise on straights (< ~0.3 m/s^3) chatters the friction compensation
# planner jerk noise on straights (p95 ~0.5 m/s^3) chatters the friction compensation
friction_jerk = math.copysign(max(abs(desired_lateral_jerk) - IONIQ_6_FRICTION_JERK_DEADZONE, 0.0), desired_lateral_jerk)
ff += friction_scale * get_friction(error_with_lsf + JERK_GAIN * friction_jerk, lateral_accel_deadzone, friction_threshold, self.torque_params)
deadzone_boost_active = False
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+11 -1
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@@ -638,7 +638,17 @@ IONIQ_6_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS
# (~0.5 Hz) weave on straights: the 0.09/0.39 small-signal slope plus the jerk feed acts as
# extra P/D gain right where there is no breakaway torque to overcome. Deadzone the jerk
# feed below straight-line noise levels and fade friction near center at highway speed.
IONIQ_6_FRICTION_JERK_DEADZONE = 0.30
# 2026-07-23: raised 0.30 -> 0.50. The 0.30 value was set when straight-line |desiredLatJerk|
# p95 was 0.286; on the "straights" logs (70 mph, hands off) it is now p95 0.48-0.58 with
# 17-35% of frames past the deadzone, so the jerk feed supplies 43-78% of the feedforward's
# energy at the 0.66-0.74 Hz weave. That weave is a delay-driven loop resonance, so the fix
# has to remove GAIN at the tone, not add phase lag. 0.50 cuts the jerk path's tone-band
# content 44-82% while a real 2.0 m/s^3 turn-in still keeps 88% of its friction comp.
# Bounded elsewhere: the friction argument moves by at most JERK_GAIN*0.20 = 0.044 m/s^2
# (<=11.3% of friction authority vs the 0.39 threshold floor) and is exactly zero wherever
# get_friction is already saturated -- 93% of sub-25 mph turn frames, so slow/tight turns
# and the stop-turn pre-wind are untouched. Mean change is <0.25% below 45 mph.
IONIQ_6_FRICTION_JERK_DEADZONE = 0.50
IONIQ_6_FRICTION_CENTER_FADE_MAX = 0.50
IONIQ_6_FRICTION_CENTER_FADE_LAT = 0.15
IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.06