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Toyota LTA: lower angle rate limits (#28847)

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* lower limits a bit (matches ford and less wind up since Toyota EPS limits to 2 m/s up)

* revert down limits, up was too high
old-commit-hash: 221bbfe95e49bc0f132a787b976d826f90f68c68
This commit is contained in:
Shane Smiskol
2023-07-07 23:06:11 -07:00
committed by GitHub
parent a3849a0836
commit f8d9dbff5d
1 changed files with 3 additions and 3 deletions
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selfdrive/car/toyota/values.py
+3 -3
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@@ -24,10 +24,10 @@ class CarControllerParams:
# Lane Tracing Assist (LTA) control limits
# Assuming a steering ratio of 13.7:
# Limit to ~2.5 m/s^3 up (9 deg/s), ~3.6 m/s^3 down (13 deg/s) at 75 mph
# Worst case, the low speed limits will allow 4.9 m/s^3 up and down (18 deg/s) at 75 mph,
# Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph
# Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph,
# however the EPS has its own internal limits at all speeds which are less than that
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.18])
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
def __init__(self, CP):