mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-30 02:52:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

honda

Browse Source
This commit is contained in:
firestar5683
2026-05-03 00:15:15 -05:00
parent 37c82cc2d4
commit f7d79c613e
2 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_pid.py
+5 -5
View File
@@ -15,13 +15,13 @@ def civic_bosch_modified_lateral_testing_ground_active() -> bool:
def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
abs_angle = abs(desired_angle_deg)
speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
center_speed_weight = 0.60 + (0.40 * speed_weight)
center_weight = min(max((14.0 - abs_angle) / 14.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 14.0) / 14.0, 0.0), 1.0)
center_speed_weight = 0.65 + (0.35 * speed_weight)
center_weight = min(max((16.0 - abs_angle) / 16.0, 0.0), 1.0)
angle_weight = min(max((abs_angle - 16.0) / 12.0, 0.0), 1.0)
phase = desired_angle_deg * desired_angle_delta_deg
is_left = desired_angle_deg > 0.0
center_taper = 0.26
center_taper = 0.30
base_scale = 0.10 if is_left else 0.12
turn_in_scale = 0.10 if is_left else 0.14
unwind_scale = 0.14 if is_left else 0.20
@@ -33,7 +33,7 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
elif phase < -0.2:
scale -= speed_weight * angle_weight * unwind_scale
return max(scale, 0.78)
return max(scale, 0.74)
class LatControlPID(LatControl):
selfdrive/controls/tests/test_latcontrol.py
+2 -1
View File
@@ -384,8 +384,9 @@ class TestLatControl:
assert get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(10.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(12.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) < 1.0
assert get_civic_bosch_modified_pid_output_scale(0.0, 0.0, 6.0) < 0.9
assert get_civic_bosch_modified_pid_output_scale(14.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(16.0, 0.0, 12.0) > get_civic_bosch_modified_pid_output_scale(8.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)