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Honda Pilot tuning / lane centering fixes (#408)

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Tuned kP and kI and Tire Stiffness Factor settings.
Fixes lane centering issues in the following situations:
1.  Hugging of left lane line during fast left curving roads
2.  Hugging of right lane line during fast right curving roads
3.  Left bias in fast lane on crowned roads (sloping down to the left)
4.  Right bias in slow lane on crowned roads (sloping down to the right)
Works better when lane_width = 2.85 (vs 3.7 default) in pathplanner.py
This commit is contained in:
kegman
2018-10-31 14:09:48 -04:00
committed by rbiasini
parent 00429e6bbb
commit fdbf1c5938
1 changed files with 2 additions and 2 deletions
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selfdrive/car/honda/interface.py
+2 -2
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@@ -294,8 +294,8 @@ class CarInterface(object):
ret.wheelbase = 2.81
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
tire_stiffness_factor = 0.82
ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]