import ast import json import math import numpy as np from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR from opendbc.car.gm.values import CAR as GM_CAR from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR from opendbc.car.subaru.values import CAR as SUBARU_CAR from opendbc.car.toyota.values import CAR as TOYOTA_CAR from openpilot.common.constants import CV from openpilot.starpilot.common.testing_grounds import testing_ground CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30 STANDARD_FRICTION_THRESHOLD = 0.30 HKG_CANFD_BASE_FRICTION_THRESHOLD = 0.39 FLM_SCHEMA_VERSION = 1 FLM_FRICTION_SPEED_KNOTS = [0.0, 5.0, 10.0, 15.0, 25.0] CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20 CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.00 CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT = 1.75 CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED = 12.0 CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE = 0.08 CIVIC_BOSCH_MODIFIED_B_FF_ONSET = 0.18 CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH = 0.07 CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF = 1.35 CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH = 0.38 CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT = 0.14 CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT = 0.24 CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT = 0.04 CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT = 0.00 CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT = 0.40 CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT = 0.60 CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.02 CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.00 CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.26 CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40 CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_LEFT = -0.10 CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_RIGHT = 0.02 CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_LEFT = -0.05 CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_RIGHT = 0.02 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_LEFT = 0.24 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_RIGHT = 0.06 CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = -0.02 CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.01 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.22 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.05 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_MAX = 0.12 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT = 0.24 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT_WIDTH = 0.05 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_SPEED = 18.0 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_SPEED_WIDTH = 2.5 CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.50 CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.82 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.00 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.00 CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 4.40 CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 6.20 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.00 CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00 CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 2.80 CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 4.20 BOLT_2022_2023_CARS = ( GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, GM_CAR.CHEVROLET_BOLT_CC_2022_2023, ) BOLT_2018_2021_CARS = ( GM_CAR.CHEVROLET_BOLT_CC_2018_2021, ) BOLT_2017_CARS = ( GM_CAR.CHEVROLET_BOLT_CC_2017, ) BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2018_2021_CARS + BOLT_2017_CARS VOLT_STANDARD_CARS = ( GM_CAR.CHEVROLET_VOLT, GM_CAR.CHEVROLET_VOLT_2019, GM_CAR.CHEVROLET_VOLT_ASCM, GM_CAR.CHEVROLET_VOLT_CAMERA, GM_CAR.CHEVROLET_VOLT_CC, ) SILVERADO_CARS = ( GM_CAR.CHEVROLET_SILVERADO, GM_CAR.CHEVROLET_SILVERADO_CC, ) GENESIS_G90_CARS = ( HYUNDAI_CAR.GENESIS_G90, ) GENESIS_GV70_CARS = ( HYUNDAI_CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, ) PALISADE_CARS = ( HYUNDAI_CAR.HYUNDAI_PALISADE, HYUNDAI_CAR.HYUNDAI_PALISADE_2023, ) IONIQ_5_CARS = ( HYUNDAI_CAR.HYUNDAI_IONIQ_5, ) IONIQ_EV_OLD_CARS = ( HYUNDAI_CAR.HYUNDAI_IONIQ_EV_LTD, HYUNDAI_CAR.HYUNDAI_IONIQ_EV_2020, ) IONIQ_6_CARS = ( HYUNDAI_CAR.HYUNDAI_IONIQ_6, ) SONATA_HYBRID_CARS = ( HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID, ) SONATA_CARS = ( HYUNDAI_CAR.HYUNDAI_SONATA, ) ELANTRA_NON_SCC_CARS = ( HYUNDAI_CAR.HYUNDAI_ELANTRA_2022_NON_SCC, HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ) KIA_EV6_CARS = ( HYUNDAI_CAR.KIA_EV6, ) KIA_CARNIVAL_CARS = ( HYUNDAI_CAR.KIA_CARNIVAL_2025, ) TUCSON_4TH_GEN_CARS = ( HYUNDAI_CAR.HYUNDAI_TUCSON_4TH_GEN, ) KIA_XCEED_CARS = ( HYUNDAI_CAR.KIA_XCEED_PHEV, ) KIA_NIRO_PHEV_2022_CARS = ( HYUNDAI_CAR.KIA_NIRO_PHEV_2022, ) KIA_STINGER_2022_CARS = ( HYUNDAI_CAR.KIA_STINGER_2022, ) KIA_FORTE_CARS = ( HYUNDAI_CAR.KIA_FORTE, HYUNDAI_CAR.KIA_FORTE_2019_NON_SCC, HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC, ) KONA_NON_SCC_CARS = ( HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC, ) PRIUS_CARS = ( TOYOTA_CAR.TOYOTA_PRIUS, ) CAMRY_CARS = ( TOYOTA_CAR.TOYOTA_CAMRY, ) RAV4_PRIME_CARS = ( TOYOTA_CAR.TOYOTA_RAV4_PRIME, ) SIENNA_4TH_GEN_CARS = ( TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN, ) LEXUS_IS_CARS = ( TOYOTA_CAR.LEXUS_IS, ) SUBARU_IMPREZA_CARS = ( SUBARU_CAR.SUBARU_IMPREZA, ) RAM_1500_CARS = ( CHRYSLER_CAR.RAM_1500_5TH_GEN, ) RAM_1500_BASE_LAT_ACCEL_FACTOR_MULT = 1.20 GENESIS_GV70_FRICTION_THRESHOLD_GAIN = 0.08 GENESIS_GV70_FRICTION_SPEED_ONSET = 8.0 * CV.MPH_TO_MS GENESIS_GV70_FRICTION_SPEED_ONSET_WIDTH = 4.0 * CV.MPH_TO_MS GENESIS_GV70_FRICTION_SPEED_CUTOFF = 40.0 * CV.MPH_TO_MS GENESIS_GV70_FRICTION_SPEED_CUTOFF_WIDTH = 6.0 * CV.MPH_TO_MS GENESIS_GV70_FRICTION_CENTER_LAT = 0.20 GENESIS_GV70_FRICTION_CENTER_LAT_WIDTH = 0.08 GENESIS_GV70_FRICTION_CALM_JERK = 0.30 GENESIS_GV70_FRICTION_CALM_JERK_WIDTH = 0.08 BOLT_2017_LATERAL_TESTING_GROUND_ID = testing_ground.id_3 BOLT_2017_STEER_RATIO_TEST_SCALE = 1.045 BOLT_2017_STEER_RATIO_ONSET_SPEED = 20.0 * CV.MPH_TO_MS BOLT_2017_STEER_RATIO_ONSET_WIDTH = 4.0 * CV.MPH_TO_MS BOLT_2017_CENTER_TAPER_LAT = 0.10 BOLT_2017_CENTER_TAPER_WIDTH = 0.03 BOLT_2017_CENTER_TAPER_GAIN = 0.055 BOLT_2017_TORQUE_SCALE_BP = [0.0, 0.2, 0.5, 1.0, 1.5, 2.5] BOLT_2017_TORQUE_SCALE_LEFT = [1.0, 1.0, 1.065, 1.060, 1.055, 1.045] BOLT_2017_TORQUE_SCALE_RIGHT = [1.0, 1.0, 1.035, 1.020, 0.995, 0.985] BOLT_2017_TRANSITION_SPEED = 10.0 BOLT_2017_PHASE_SCALE = 0.12 BOLT_2017_TURN_IN_BOOST_LEFT = 0.28 BOLT_2017_TURN_IN_BOOST_RIGHT = 0.18 BOLT_2017_UNWIND_TAPER_LEFT = 0.08 BOLT_2017_UNWIND_TAPER_RIGHT = 0.28 BOLT_2018_2021_LATERAL_TESTING_GROUND_ID = testing_ground.id_4 BOLT_2018_2021_STEER_RATIO_TEST_SCALE = 1.01 BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.090 BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.050 BOLT_2018_2021_TORQUE_ONSET = 0.18 BOLT_2018_2021_TORQUE_ONSET_WIDTH = 0.08 BOLT_2018_2021_TORQUE_CUTOFF = 1.05 BOLT_2018_2021_TORQUE_CUTOFF_WIDTH = 0.24 BOLT_2018_2021_JERK_TAPER_CUTOFF = 0.42 BOLT_2018_2021_CENTER_TAPER_LAT = 0.12 BOLT_2018_2021_CENTER_TAPER_WIDTH = 0.04 BOLT_2018_2021_CENTER_TAPER_GAIN = 0.35 BOLT_2018_2021_TRANSITION_SPEED = 8.5 BOLT_2018_2021_PHASE_SCALE = 0.10 BOLT_2018_2021_TURN_IN_BOOST_LEFT = 0.22 BOLT_2018_2021_TURN_IN_BOOST_RIGHT = 0.12 BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.80 BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 1.04 BOLT_2018_2021_FRICTION_MULT = 1.01 BOLT_2018_2021_FRICTION_LAT_RISE = 0.24 BOLT_2018_2021_FRICTION_JERK_RISE = 0.28 BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16 BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.16 BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15 BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.25 BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT = 0.08 BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.08 BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.17 BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.27 BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5 BOLT_2022_2023_FF_GAIN_LEFT = 0.11 BOLT_2022_2023_FF_GAIN_RIGHT = 0.06 BOLT_2022_2023_FF_ONSET = 0.12 BOLT_2022_2023_FF_ONSET_WIDTH = 0.07 BOLT_2022_2023_FF_CUTOFF = 1.35 BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28 BOLT_2022_2023_TRANSITION_SPEED = 9.0 BOLT_2022_2023_PHASE_SCALE = 0.12 BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.18 BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.13 BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.38 BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.40 BOLT_2022_2023_FRICTION_MULT = 1.09 BOLT_2022_2023_FRICTION_LAT_RISE = 0.22 BOLT_2022_2023_FRICTION_JERK_RISE = 0.26 BOLT_2022_2023_CENTER_TAPER_MAX = 0.11 BOLT_2022_2023_CENTER_TAPER_LAT = 0.18 BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH = 0.03 BOLT_2022_2023_CENTER_TAPER_SPEED = 25.0 BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH = 2.5 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_MAX = 0.07 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_LAT = 0.14 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.04 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED = 4.0 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.5 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 14.0 BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_MAX_WIDTH = 2.0 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LIMIT = 0.38 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT = 0.17 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT_WIDTH = 0.04 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED = 2.5 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_WIDTH = 0.7 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX = 7.2 BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX_WIDTH = 0.5 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_BUMP = 0.050 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_LAT = 0.18 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.06 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_SPEED = 6.7 BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 1.5 BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16 BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12 BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.26 BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.28 BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.10 BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.07 BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.27 BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.28 VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3 VOLT_STANDARD_FF_GAIN_LEFT = 0.13 VOLT_STANDARD_FF_GAIN_RIGHT = 0.06 VOLT_STANDARD_FF_ONSET = 0.10 VOLT_STANDARD_FF_ONSET_WIDTH = 0.05 VOLT_STANDARD_FF_CUTOFF = 1.38 VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.28 VOLT_STANDARD_TRANSITION_SPEED = 10.0 VOLT_STANDARD_PHASE_SCALE = 0.10 VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.20 VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.20 VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.20 VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.20 VOLT_STANDARD_FRICTION_MULT = 1.00 VOLT_STANDARD_FRICTION_LAT_RISE = 0.20 VOLT_STANDARD_FRICTION_JERK_RISE = 0.20 VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05 VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.05 VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.05 VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.05 VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.00 VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.00 VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.05 VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.05 VOLT_STANDARD_CENTER_TAPER_MAX = 0.12 VOLT_STANDARD_CENTER_TAPER_LAT = 0.10 VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018 VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5 SILVERADO_CENTER_TAPER_MAX = 0.22 SILVERADO_CENTER_TAPER_LAT = 0.18 SILVERADO_CENTER_TAPER_LAT_WIDTH = 0.05 SILVERADO_CENTER_TAPER_SPEED = 12.0 SILVERADO_CENTER_TAPER_SPEED_WIDTH = 2.5 SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.05 SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09 SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.22 SONATA_HYBRID_FF_ONSET = 0.18 SONATA_HYBRID_FF_ONSET_WIDTH = 0.08 SONATA_HYBRID_FF_CUTOFF = 1.35 SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40 SONATA_HYBRID_TRANSITION_SPEED = 8.0 SONATA_HYBRID_PHASE_SCALE = 0.12 SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.12 SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.02 SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.18 SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.10 SONATA_HYBRID_CENTER_TAPER_MAX = 0.07 SONATA_HYBRID_CENTER_TAPER_LAT = 0.16 SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025 SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0 SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.14 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.10 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.5 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0 SONATA_FF_REDUCTION_LEFT = 0.04 SONATA_FF_REDUCTION_RIGHT = 0.26 SONATA_FF_ONSET = 0.18 SONATA_FF_ONSET_WIDTH = 0.08 SONATA_FF_CUTOFF = 1.40 SONATA_FF_CUTOFF_WIDTH = 0.42 SONATA_TRANSITION_SPEED = 8.5 SONATA_PHASE_SCALE = 0.12 SONATA_TURN_IN_BOOST_LEFT = 0.18 SONATA_TURN_IN_BOOST_RIGHT = 0.00 SONATA_UNWIND_TAPER_LEFT = 0.28 SONATA_UNWIND_TAPER_RIGHT = 0.00 SONATA_CENTER_TAPER_MAX = 0.04 SONATA_CENTER_TAPER_LAT = 0.15 SONATA_CENTER_TAPER_LAT_WIDTH = 0.025 SONATA_CENTER_TAPER_SPEED = 22.0 SONATA_CENTER_TAPER_SPEED_WIDTH = 2.5 SONATA_LOW_SPEED_CENTER_TAPER_MAX = 0.08 SONATA_LOW_SPEED_CENTER_TAPER_LAT = 0.10 SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02 SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.0 SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0 ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02 ELANTRA_NON_SCC_FF_ADJUST_RIGHT = -0.02 ELANTRA_NON_SCC_FF_ONSET = 0.14 ELANTRA_NON_SCC_FF_ONSET_WIDTH = 0.06 ELANTRA_NON_SCC_FF_CUTOFF = 1.10 ELANTRA_NON_SCC_FF_CUTOFF_WIDTH = 0.34 ELANTRA_NON_SCC_TRANSITION_SPEED = 8.0 ELANTRA_NON_SCC_PHASE_SCALE = 0.10 ELANTRA_NON_SCC_TURN_IN_BOOST_LEFT = 0.10 ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12 ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22 ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12 KIA_XCEED_FF_REDUCTION_LEFT = 0.04 KIA_XCEED_FF_REDUCTION_RIGHT = 0.10 KIA_XCEED_FF_ONSET = 0.16 KIA_XCEED_FF_ONSET_WIDTH = 0.06 KIA_XCEED_FF_CUTOFF = 1.30 KIA_XCEED_FF_CUTOFF_WIDTH = 0.36 KIA_XCEED_TRANSITION_SPEED = 11.5 KIA_XCEED_PHASE_SCALE = 0.10 KIA_XCEED_TURN_IN_BOOST_LEFT = 0.26 KIA_XCEED_TURN_IN_BOOST_RIGHT = 0.06 KIA_XCEED_UNWIND_TAPER_LEFT = 0.20 KIA_XCEED_UNWIND_TAPER_RIGHT = 0.14 KIA_XCEED_CENTER_TAPER_MAX = 0.06 KIA_XCEED_CENTER_TAPER_LAT = 0.12 KIA_XCEED_CENTER_TAPER_LAT_WIDTH = 0.03 KIA_XCEED_CENTER_TAPER_SPEED = 17.5 KIA_XCEED_CENTER_TAPER_SPEED_WIDTH = 2.5 KIA_NIRO_PHEV_2022_CENTER_TAPER_MAX = 0.06 KIA_NIRO_PHEV_2022_CENTER_TAPER_LAT = 0.12 KIA_NIRO_PHEV_2022_CENTER_TAPER_LAT_WIDTH = 0.03 KIA_NIRO_PHEV_2022_CENTER_TAPER_SPEED = 23.0 KIA_NIRO_PHEV_2022_CENTER_TAPER_SPEED_WIDTH = 2.5 KIA_NIRO_PHEV_2022_FRICTION_CENTER_LAT = 0.12 KIA_NIRO_PHEV_2022_FRICTION_CENTER_LAT_WIDTH = 0.03 KIA_NIRO_PHEV_2022_FRICTION_SPEED = 23.0 KIA_NIRO_PHEV_2022_FRICTION_SPEED_WIDTH = 2.5 KIA_NIRO_PHEV_2022_FRICTION_CALM_JERK = 0.22 KIA_NIRO_PHEV_2022_FRICTION_CALM_JERK_WIDTH = 0.06 KIA_NIRO_PHEV_2022_FRICTION_THRESHOLD_GAIN = 0.12 KIA_STINGER_2022_CENTER_TAPER_MAX = 0.12 KIA_STINGER_2022_CENTER_TAPER_LAT = 0.30 KIA_STINGER_2022_CENTER_TAPER_LAT_WIDTH = 0.05 KIA_STINGER_2022_CENTER_TAPER_SPEED = 10.0 KIA_STINGER_2022_CENTER_TAPER_SPEED_WIDTH = 2.5 KIA_STINGER_2022_FRICTION_THRESHOLD_GAIN = 0.10 KIA_CARNIVAL_CENTER_TAPER_MAX = 0.20 KIA_CARNIVAL_CENTER_TAPER_LAT = 0.20 KIA_CARNIVAL_CENTER_TAPER_LAT_WIDTH = 0.055 KIA_CARNIVAL_CENTER_TAPER_SPEED = 3.5 KIA_CARNIVAL_CENTER_TAPER_SPEED_WIDTH = 1.8 KIA_CARNIVAL_CENTER_TAPER_SPEED_MAX = 14.5 KIA_CARNIVAL_CENTER_TAPER_SPEED_MAX_WIDTH = 2.0 KIA_CARNIVAL_FRICTION_THRESHOLD_GAIN = 0.24 KIA_CARNIVAL_FRICTION_CENTER_FADE_MAX = 0.34 KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_MAX = 0.14 KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_LAT = 0.24 KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.06 KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED = 28.0 KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 2.0 KIA_CARNIVAL_HIGHWAY_FRICTION_THRESHOLD_GAIN = 0.14 KIA_CARNIVAL_HIGHWAY_FRICTION_CENTER_FADE_MAX = 0.20 KIA_CARNIVAL_HIGHWAY_TRANSITION_TAPER_MAX = 0.28 KIA_CARNIVAL_HIGHWAY_TRANSITION_JERK = 0.45 KIA_CARNIVAL_HIGHWAY_TRANSITION_JERK_WIDTH = 0.15 KIA_CARNIVAL_HIGHWAY_TRANSITION_LAT_CUTOFF = 1.20 KIA_CARNIVAL_HIGHWAY_TRANSITION_LAT_WIDTH = 0.20 TUCSON_4TH_GEN_CENTER_TAPER_MAX = 0.44 TUCSON_4TH_GEN_CENTER_TAPER_LAT = 0.28 TUCSON_4TH_GEN_CENTER_TAPER_LAT_WIDTH = 0.055 TUCSON_4TH_GEN_CENTER_TAPER_SPEED_MAX = 14.0 TUCSON_4TH_GEN_CENTER_TAPER_SPEED_WIDTH = 1.5 TUCSON_4TH_GEN_FRICTION_THRESHOLD_GAIN = 0.28 KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.05 KIA_FORTE_FF_REDUCTION_LEFT = 0.05 KIA_FORTE_FF_REDUCTION_RIGHT = 0.10 KIA_FORTE_FF_ONSET = 0.16 KIA_FORTE_FF_ONSET_WIDTH = 0.06 KIA_FORTE_FF_CUTOFF = 1.20 KIA_FORTE_FF_CUTOFF_WIDTH = 0.36 KIA_FORTE_TRANSITION_SPEED = 9.0 KIA_FORTE_PHASE_SCALE = 0.10 KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10 KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.05 KIA_FORTE_UNWIND_TAPER_LEFT = 0.18 KIA_FORTE_UNWIND_TAPER_RIGHT = 0.02 KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.10 KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.14 KIA_FORTE_CRAWL_TURN_IN_FF_SPEED = 4.5 KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.8 KIA_FORTE_CRAWL_TURN_IN_FF_LAT = 0.10 KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.05 KIA_FORTE_CENTER_TAPER_MAX = 0.12 KIA_FORTE_CENTER_TAPER_LAT = 0.18 KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.04 KIA_FORTE_CENTER_TAPER_SPEED = 22.5 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 3.0 KIA_FORTE_FRICTION_CENTER_LAT = 0.18 KIA_FORTE_FRICTION_CENTER_LAT_WIDTH = 0.04 KIA_FORTE_FRICTION_SPEED = 24.0 KIA_FORTE_FRICTION_SPEED_WIDTH = 3.0 KIA_FORTE_FRICTION_CALM_JERK = 0.24 KIA_FORTE_FRICTION_CALM_JERK_WIDTH = 0.08 KIA_FORTE_FRICTION_THRESHOLD_GAIN = 0.10 PALISADE_BASE_LAT_ACCEL_FACTOR_MULT = 0.98 PALISADE_FF_GAIN_LEFT = 0.14 PALISADE_FF_GAIN_RIGHT = 0.12 PALISADE_FF_ONSET = 0.08 PALISADE_FF_ONSET_WIDTH = 0.04 PALISADE_FF_CUTOFF = 1.25 PALISADE_FF_CUTOFF_WIDTH = 0.36 PALISADE_TRANSITION_SPEED = 9.0 PALISADE_PHASE_SCALE = 0.11 PALISADE_TURN_IN_BOOST_LEFT = 0.34 PALISADE_TURN_IN_BOOST_RIGHT = 0.24 PALISADE_UNWIND_TAPER_LEFT = 0.18 PALISADE_UNWIND_TAPER_RIGHT = 0.30 PALISADE_FRICTION_MULT = 1.02 PALISADE_FRICTION_LAT_RISE = 0.20 PALISADE_FRICTION_JERK_RISE = 0.24 PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18 PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14 PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14 PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.22 PALISADE_TURN_IN_FRICTION_BOOST_LEFT = 0.08 PALISADE_TURN_IN_FRICTION_BOOST_RIGHT = 0.06 PALISADE_UNWIND_FRICTION_REDUCTION_LEFT = 0.12 PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT = 0.20 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4 GENESIS_G90_FF_GAIN_LEFT = 0.32 GENESIS_G90_FF_GAIN_RIGHT = 0.16 GENESIS_G90_FF_ONSET = 0.10 GENESIS_G90_FF_ONSET_WIDTH = 0.05 GENESIS_G90_FF_CUTOFF = 2.35 GENESIS_G90_FF_CUTOFF_WIDTH = 0.48 GENESIS_G90_TRANSITION_SPEED = 10.0 GENESIS_G90_PHASE_SCALE = 0.12 GENESIS_G90_TURN_IN_BOOST_LEFT = 0.66 GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.50 GENESIS_G90_UNWIND_TAPER_LEFT = 0.10 GENESIS_G90_UNWIND_TAPER_RIGHT = 0.55 GENESIS_G90_FRICTION_MULT = 1.02 GENESIS_G90_FRICTION_LAT_RISE = 0.22 GENESIS_G90_FRICTION_JERK_RISE = 0.24 GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.28 GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22 GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.06 GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32 GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.16 GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.14 GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.04 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30 IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.22 IONIQ_5_FF_ONSET = 0.10 IONIQ_5_FF_ONSET_WIDTH = 0.05 IONIQ_5_FF_CUTOFF = 1.20 IONIQ_5_FF_CUTOFF_WIDTH = 0.30 IONIQ_5_TRANSITION_SPEED = 12.5 IONIQ_5_PHASE_SCALE = 0.10 IONIQ_5_FF_REDUCTION_LEFT = 0.15 IONIQ_5_FF_REDUCTION_RIGHT = 0.25 IONIQ_5_TURN_IN_BOOST_LEFT = 0.10 IONIQ_5_TURN_IN_BOOST_RIGHT = 0.04 IONIQ_5_UNWIND_TAPER_LEFT = 0.92 IONIQ_5_UNWIND_TAPER_RIGHT = 1.04 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.03 IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.46 IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.50 IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02 IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.01 IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.42 IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.44 IONIQ_5_CENTER_TAPER_MAX = 0.18 IONIQ_5_CENTER_TAPER_LAT = 0.16 IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.04 IONIQ_5_CENTER_TAPER_SPEED = 15.0 IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.2 IONIQ_5_SUSTAINED_TURN_IN_FF_BOOST_LEFT = 0.10 IONIQ_5_SUSTAINED_TURN_IN_FF_BOOST_RIGHT = 0.16 IONIQ_5_SUSTAINED_TURN_IN_FF_SPEED = 13.5 IONIQ_5_SUSTAINED_TURN_IN_FF_SPEED_WIDTH = 1.8 IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_START = 1.10 IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_END = 3.60 IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_WIDTH = 0.30 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16 IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.16 IONIQ_EV_OLD_FF_REDUCTION_RIGHT = 0.30 IONIQ_EV_OLD_FF_ONSET = 0.14 IONIQ_EV_OLD_FF_ONSET_WIDTH = 0.05 IONIQ_EV_OLD_FF_CUTOFF = 1.10 IONIQ_EV_OLD_FF_CUTOFF_WIDTH = 0.30 IONIQ_EV_OLD_TRANSITION_SPEED = 10.0 IONIQ_EV_OLD_PHASE_SCALE = 0.10 IONIQ_EV_OLD_TURN_IN_BOOST_LEFT = 0.01 IONIQ_EV_OLD_TURN_IN_BOOST_RIGHT = 0.00 IONIQ_EV_OLD_UNWIND_TAPER_LEFT = 0.26 IONIQ_EV_OLD_UNWIND_TAPER_RIGHT = 0.06 IONIQ_EV_OLD_CENTER_TAPER_MAX = 0.14 IONIQ_EV_OLD_CENTER_TAPER_LAT = 0.12 IONIQ_EV_OLD_CENTER_TAPER_LAT_WIDTH = 0.03 IONIQ_EV_OLD_CENTER_TAPER_SPEED = 22.0 IONIQ_EV_OLD_CENTER_TAPER_SPEED_WIDTH = 2.2 IONIQ_6_FF_GAIN_LEFT = 0.045 IONIQ_6_FF_GAIN_RIGHT = 0.015 IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.22 IONIQ_6_BASE_FRICTION_THRESHOLD = HKG_CANFD_BASE_FRICTION_THRESHOLD IONIQ_6_FF_ONSET = 0.10 IONIQ_6_FF_ONSET_WIDTH = 0.04 IONIQ_6_FF_CUTOFF = 0.48 IONIQ_6_FF_CUTOFF_WIDTH = 0.12 IONIQ_6_TRANSITION_SPEED = 10.0 IONIQ_6_PHASE_SCALE = 0.10 IONIQ_6_TURN_IN_BOOST_LEFT = 1.64 IONIQ_6_TURN_IN_BOOST_RIGHT = 2.10 IONIQ_6_UNWIND_TAPER_LEFT = 3.18 IONIQ_6_UNWIND_TAPER_RIGHT = 8.20 IONIQ_6_FRICTION_MULT = 0.928 IONIQ_6_FRICTION_LAT_RISE = 0.20 IONIQ_6_FRICTION_JERK_RISE = 0.24 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.78 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.42 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.90 IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 10.20 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.44 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.94 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.55 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 9.10 IONIQ_6_CENTER_TAPER_MAX = 0.082 IONIQ_6_CENTER_TAPER_LAT = 0.24 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025 IONIQ_6_CENTER_TAPER_SPEED = 18.0 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5 IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.046 IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.10 IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.035 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8 IONIQ_6_HIGHWAY_OUTPUT_TAPER_MAX = 0.10 IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT = 0.14 IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.04 IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED = 23.5 IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH = 2.0 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_MAX = 0.18 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_LAT = 1.05 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_LAT_WIDTH = 0.22 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_JERK = 0.24 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_JERK_WIDTH = 0.14 IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.088 IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.28 IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.06 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 8.5 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 16.5 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.19 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06 IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.11 IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.10 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.10 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.20 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.10 IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 1.00 IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.30 # Unwind detection needs a softer phase transition and time smoothing than the shared # PHASE_SCALE: desired lateral jerk noise in a sustained curve (~+/-1-2 m/s^3) otherwise # chatters the taper between its base value and its floor at ~0.5 Hz (felt as notchy # steering in highway sweepers). IONIQ_6_DIRECTIONAL_TAPER_PHASE_SCALE = 0.45 IONIQ_6_DIRECTIONAL_TAPER_FILTER_RC = 0.4 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.98 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 11.2 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 1.5 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.10 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.06 IONIQ_6_UNWIND_HIGH_SPEED_SPEED = 23.2 IONIQ_6_UNWIND_HIGH_SPEED_SPEED_WIDTH = 1.7 IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.18 IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.24 IONIQ_6_CRAWL_TURN_IN_FF_SPEED = 5.3 IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH = 1.0 IONIQ_6_CRAWL_TURN_IN_FF_LAT = 0.06 IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.035 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE = 0.46 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED = 3.25 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED_WIDTH = 0.45 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR = 1.9 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH = 1.20 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE = 5.5 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH = 2.4 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START = 0.66 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH = 0.12 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR = 0.26 IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_BP = [0.0, 0.35, 0.65, 1.0] IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_V = [1.0, 1.0, 0.88, 0.08] IONIQ_6_LOW_SPEED_UNWIND_ASSIST_MAX_TORQUE = 0.30 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED = 3.35 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED_WIDTH = 0.50 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR = 1.6 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR_WIDTH = 0.95 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE = 10.5 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE_WIDTH = 4.0 IONIQ_6_LOW_SPEED_UNWIND_ASSIST_BLEND = 0.52 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_BOOST = 0.10 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_SPEED = 18.0 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_SPEED_WIDTH = 2.5 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_START = 0.06 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_END = 0.22 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_WIDTH = 0.035 IONIQ_6_CURVY_SPEED_MIN = 7.2 IONIQ_6_CURVY_SPEED_MAX = 21.5 IONIQ_6_CURVY_SPEED_MIN_WIDTH = 1.1 IONIQ_6_CURVY_SPEED_MAX_WIDTH = 1.8 IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_LEFT = 0.26 IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_RIGHT = 0.30 IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_LEFT = 0.22 IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_RIGHT = 0.28 IONIQ_6_CURVY_UNWIND_LAT_START = 0.45 IONIQ_6_CURVY_UNWIND_LAT_END = 3.6 IONIQ_6_CURVY_UNWIND_LAT_ONSET_WIDTH = 0.14 IONIQ_6_CURVY_UNWIND_LAT_CUTOFF_WIDTH = 0.55 IONIQ_6_CURVY_RIGHT_UNWIND_JERK_ONSET = 0.40 IONIQ_6_CURVY_RIGHT_UNWIND_JERK_WIDTH = 0.22 IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN = 11.5 IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX = 20.5 IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH = 1.2 IONIQ_6_CURVY_TURN_IN_TRIM_LEFT = 0.08 IONIQ_6_CURVY_TURN_IN_TRIM_RIGHT = 0.09 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_START = 1.0 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END = 2.5 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_ONSET_WIDTH = 0.18 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_CUTOFF_WIDTH = 0.30 IONIQ_6_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS # Friction compensation near zero lateral accel amplifies planner jerk noise into a slow # (~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 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 IONIQ_6_FRICTION_CENTER_FADE_SPEED = 18.0 IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH = 2.5 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.90 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.18 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.03 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.11 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.40 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.55 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90 IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C" KIA_EV6_FF_GAIN_LEFT = 0.12 KIA_EV6_FF_GAIN_RIGHT = 0.17 KIA_EV6_FF_ONSET = 0.08 KIA_EV6_FF_ONSET_WIDTH = 0.04 KIA_EV6_FF_CUTOFF = 1.90 KIA_EV6_FF_CUTOFF_WIDTH = 0.40 KIA_EV6_TRANSITION_SPEED = 14.5 KIA_EV6_PHASE_SCALE = 0.09 KIA_EV6_TURN_IN_BOOST_LEFT = 0.62 KIA_EV6_TURN_IN_BOOST_RIGHT = 0.60 KIA_EV6_UNWIND_TAPER_LEFT = 0.56 KIA_EV6_UNWIND_TAPER_RIGHT = 0.54 KIA_EV6_BASE_UNWIND_TAPER_LEFT = 0.10 KIA_EV6_BASE_UNWIND_TAPER_RIGHT = 0.13 KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT = 0.12 KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT = 0.14 KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT = 0.15 KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT = 0.16 KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION = 0.25 KIA_EV6_JWARM_PHASE_STABILITY_SPEED = 10.0 KIA_EV6_JWARM_PHASE_STABILITY_SPEED_WIDTH = 1.8 KIA_EV6_JWARM_PHASE_STABILITY_JERK = 0.70 KIA_EV6_JWARM_PHASE_STABILITY_JERK_WIDTH = 0.18 KIA_EV6_FRICTION_MULT = 1.01 KIA_EV6_FRICTION_LAT_RISE = 0.18 KIA_EV6_FRICTION_JERK_RISE = 0.22 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.34 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.40 KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28 KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24 KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.18 KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.24 KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28 KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22 KIA_EV6_CENTER_TAPER_MAX = 0.12 KIA_EV6_CENTER_TAPER_LAT = 0.16 KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.04 KIA_EV6_CENTER_TAPER_SPEED = 17.0 KIA_EV6_CENTER_TAPER_SPEED_WIDTH = 2.8 KIA_EV6_LOW_SPEED_CENTER_TAPER_MAX = 0.19 KIA_EV6_LOW_SPEED_CENTER_TAPER_LAT = 0.08 KIA_EV6_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02 KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 8.5 KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.4 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7 VOLT_PLEXY_FF_EXTRA_MULT_LEFT = 1.07 VOLT_PLEXY_FF_EXTRA_MULT_RIGHT = 1.12 VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT = 1.04 VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT = 1.05 VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT = 0.97 VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.96 VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 1.02 PRIUS_TRANSITION_SPEED = 11.0 PRIUS_PHASE_SCALE = 0.09 PRIUS_FF_GAIN_LEFT = 0.06 PRIUS_FF_GAIN_RIGHT = 0.07 PRIUS_FF_ONSET = 0.15 PRIUS_FF_ONSET_WIDTH = 0.08 PRIUS_FF_CUTOFF = 1.30 PRIUS_FF_CUTOFF_WIDTH = 0.32 PRIUS_FRICTION_LAT_RISE = 0.18 PRIUS_FRICTION_JERK_RISE = 0.22 PRIUS_TURN_IN_BOOST_LEFT = 0.24 PRIUS_TURN_IN_BOOST_RIGHT = 0.22 PRIUS_UNWIND_TAPER_LEFT = 0.42 PRIUS_UNWIND_TAPER_RIGHT = 0.62 PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14 PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14 PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT = 0.40 PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.56 PRIUS_TURN_IN_FRICTION_BOOST_LEFT = 0.06 PRIUS_TURN_IN_FRICTION_BOOST_RIGHT = 0.06 PRIUS_UNWIND_FRICTION_REDUCTION_LEFT = 0.22 PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30 PRIUS_CENTER_TAPER_MAX = 0.15 PRIUS_CENTER_TAPER_LAT = 0.16 PRIUS_CENTER_TAPER_LAT_WIDTH = 0.035 PRIUS_CENTER_TAPER_SPEED = 18.0 PRIUS_CENTER_TAPER_SPEED_WIDTH = 2.2 PRIUS_CENTER_FRICTION_THRESHOLD_GAIN = 0.08 PRIUS_CENTER_FRICTION_THRESHOLD_LAT = 0.30 PRIUS_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.07 PRIUS_CENTER_FRICTION_THRESHOLD_SPEED = 18.0 PRIUS_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 2.2 CAMRY_CENTER_FRICTION_THRESHOLD_GAIN = 0.09 CAMRY_CENTER_FRICTION_THRESHOLD_LAT = 0.22 CAMRY_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.06 CAMRY_CENTER_FRICTION_THRESHOLD_SPEED = 18.0 CAMRY_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 3.0 RAV4_PRIME_PHASE_SCALE = 0.12 RAV4_PRIME_TURN_IN_FF_BOOST_LEFT = 0.055 RAV4_PRIME_TURN_IN_FF_BOOST_RIGHT = 0.040 RAV4_PRIME_UNWIND_FF_REDUCTION_LEFT = 0.18 RAV4_PRIME_UNWIND_FF_REDUCTION_RIGHT = 0.19 RAV4_PRIME_UNWIND_FRICTION_REDUCTION_LEFT = 0.19 RAV4_PRIME_UNWIND_FRICTION_REDUCTION_RIGHT = 0.20 RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT = 0.185 RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT = 0.225 RAV4_PRIME_HARD_UNWIND_OUTPUT_REDUCTION_LEFT = 0.04 RAV4_PRIME_HARD_UNWIND_OUTPUT_REDUCTION_RIGHT = 0.025 RAV4_PRIME_HARD_UNWIND_LAT = 1.25 RAV4_PRIME_HARD_UNWIND_LAT_WIDTH = 0.20 RAV4_PRIME_FRICTION_THRESHOLD_GAIN = 0.30 RAV4_PRIME_FRICTION_CENTER_LAT = 0.30 RAV4_PRIME_FRICTION_CENTER_LAT_WIDTH = 0.07 RAV4_PRIME_SPEED_ONSET = 5.0 RAV4_PRIME_SPEED_ONSET_WIDTH = 1.5 RAV4_PRIME_SPEED_MAX = 20.0 RAV4_PRIME_SPEED_MAX_WIDTH = 2.5 SIENNA_4TH_GEN_PHASE_SCALE = 0.12 SIENNA_4TH_GEN_TURN_IN_FF_BOOST = 0.06 SIENNA_4TH_GEN_TURN_IN_LAT = 0.24 SIENNA_4TH_GEN_TURN_IN_LAT_WIDTH = 0.08 SIENNA_4TH_GEN_TURN_IN_SPEED_ONSET = 3.0 SIENNA_4TH_GEN_TURN_IN_SPEED_WIDTH = 1.5 SIENNA_4TH_GEN_TURN_IN_SPEED_MAX = 20.0 SIENNA_4TH_GEN_TURN_IN_SPEED_MAX_WIDTH = 2.0 SIENNA_4TH_GEN_FRICTION_THRESHOLD_GAIN = 0.30 SIENNA_4TH_GEN_FRICTION_CENTER_LAT = 0.30 SIENNA_4TH_GEN_FRICTION_CENTER_LAT_WIDTH = 0.07 SIENNA_4TH_GEN_FRICTION_SPEED_ONSET = 3.0 SIENNA_4TH_GEN_FRICTION_SPEED_WIDTH = 1.5 SIENNA_4TH_GEN_FRICTION_SPEED_MAX = 14.0 SIENNA_4TH_GEN_FRICTION_SPEED_MAX_WIDTH = 2.0 SIENNA_4TH_GEN_CENTER_TAPER_MAX = 0.12 SIENNA_4TH_GEN_CENTER_TAPER_LAT = 0.20 SIENNA_4TH_GEN_CENTER_TAPER_LAT_WIDTH = 0.06 SIENNA_4TH_GEN_CENTER_TAPER_SPEED_MAX = 13.0 SIENNA_4TH_GEN_CENTER_TAPER_SPEED_WIDTH = 2.0 SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX = 0.16 SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_ONSET = 15.0 SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_ONSET_WIDTH = 2.0 SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX_SPEED = 27.0 SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX_SPEED_WIDTH = 3.0 SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX = 0.10 SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_ONSET = 18.0 SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_ONSET_WIDTH = 2.0 SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX_SPEED = 27.0 SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX_SPEED_WIDTH = 3.0 LEXUS_IS_PHASE_SCALE = 0.10 LEXUS_IS_TURN_IN_FF_BOOST_LEFT = 0.04 LEXUS_IS_TURN_IN_FF_BOOST_RIGHT = 0.04 LEXUS_IS_UNWIND_FF_REDUCTION_LEFT = 0.10 LEXUS_IS_UNWIND_FF_REDUCTION_RIGHT = 0.16 LEXUS_IS_UNWIND_LAT_ONSET = 0.18 LEXUS_IS_UNWIND_LAT_WIDTH = 0.07 LEXUS_IS_UNWIND_SPEED_ONSET = 9.0 LEXUS_IS_UNWIND_SPEED_WIDTH = 2.0 SUBARU_IMPREZA_PID_TAPER_START_DEG = 0.75 SUBARU_IMPREZA_PID_TAPER_FULL_DEG = 4.0 SUBARU_IMPREZA_PID_TAPER_MIN = 0.58 RAM_1500_TRANSITION_TAPER_MAX = 0.34 RAM_1500_TRANSITION_SPEED_ONSET = 10.0 RAM_1500_TRANSITION_SPEED_FULL = 15.0 RAM_1500_TRANSITION_JERK_ONSET = 0.35 RAM_1500_TRANSITION_JERK_FULL = 1.10 RAM_1500_TRANSITION_LAT_FADE_START = 0.65 RAM_1500_TRANSITION_LAT_FADE_END = 1.85 RAM_1500_PHASE_SCALE = 0.12 RAM_1500_PHASE_SPEED_ONSET = 8.0 RAM_1500_PHASE_SPEED_FULL = 15.0 RAM_1500_PHASE_LAT_ONSET = 0.25 RAM_1500_PHASE_LAT_WIDTH = 0.12 RAM_1500_TURN_IN_FF_BOOST = 0.06 RAM_1500_UNWIND_FF_REDUCTION = 0.10 # The Kona route is exceptionally accurate below highway speed, but Pop V2 # reverses the requested lateral acceleration roughly once per second at # 29-30 m/s. Fade only rapid, high-speed turn-building torque so the EPS has # less stored torque to unwind while leaving steady curves and counter-torque. KONA_NON_SCC_TRANSITION_TURN_IN_TAPER_MAX = 0.24 KONA_NON_SCC_TRANSITION_UNWIND_TAPER_MAX = 0.42 KONA_NON_SCC_TRANSITION_SPEED_ONSET = 22.0 KONA_NON_SCC_TRANSITION_SPEED_FULL = 29.0 KONA_NON_SCC_TRANSITION_JERK_ONSET = 0.35 KONA_NON_SCC_TRANSITION_JERK_FULL = 1.20 KONA_NON_SCC_TRANSITION_LAT_FADE_START = 0.45 KONA_NON_SCC_TRANSITION_LAT_FADE_END = 1.60 KONA_NON_SCC_CENTER_TAPER_MAX = 0.14 KONA_NON_SCC_CENTER_TAPER_LAT = 0.28 KONA_NON_SCC_CENTER_TAPER_SPEED_ONSET = 12.0 KONA_NON_SCC_CENTER_TAPER_SPEED_FULL = 24.0 TRAILER_LOAD_FULL_ASSIST_KG = 15000.0 * CV.LB_TO_KG TRAILER_LATERAL_MIN_SPEED = 15.0 * CV.MPH_TO_MS TRAILER_LATERAL_FULL_SPEED = 35.0 * CV.MPH_TO_MS TRAILER_LATERAL_LAT_RISE = 0.30 TRAILER_LATERAL_FF_GAIN = 0.05 TRAILER_LATERAL_FRICTION_GAIN = 0.03 _FLM_ACTIVE_OVERRIDES_TEXT = "" _FLM_ACTIVE_OVERRIDES = {} def _sigmoid(x: float) -> float: if x >= 0.0: z = math.exp(-x) return 1.0 / (1.0 + z) z = math.exp(x) return z / (1.0 + z) def _gm_base_friction_threshold_default(v_ego: float) -> float: return float(np.interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27])) def _standard_friction_threshold_default(v_ego: float) -> float: return max(_gm_base_friction_threshold_default(v_ego), STANDARD_FRICTION_THRESHOLD) def _hkg_canfd_base_friction_threshold_default(v_ego: float) -> float: return max(_gm_base_friction_threshold_default(v_ego), HKG_CANFD_BASE_FRICTION_THRESHOLD) def _flm_copy_json(value): return json.loads(json.dumps(value)) def normalize_flm_overrides(overrides) -> dict: if overrides in (None, "", b""): return {} if isinstance(overrides, bytes): overrides = overrides.decode("utf-8", errors="replace") if isinstance(overrides, str): stripped = overrides.strip() if not stripped: return {} try: overrides = json.loads(stripped) except Exception: try: overrides = ast.literal_eval(stripped) except (SyntaxError, ValueError): return {} if not isinstance(overrides, dict): return {} normalized = { "schemaVersion": FLM_SCHEMA_VERSION, "baseFrictionThresholds": {}, "vehicleKnobs": {}, } for family in ("gm", "standard", "hkg_canfd"): payload = overrides.get("baseFrictionThresholds", {}).get(family, {}) values = payload.get("values", payload if isinstance(payload, list) else []) if not isinstance(values, (list, tuple)) or len(values) != len(FLM_FRICTION_SPEED_KNOTS): continue try: normalized["baseFrictionThresholds"][family] = { "speedKnots": list(FLM_FRICTION_SPEED_KNOTS), "values": [float(v) for v in values], } except Exception: continue vehicle_knobs = overrides.get("vehicleKnobs", {}) if isinstance(vehicle_knobs, dict): for key, value in vehicle_knobs.items(): try: normalized["vehicleKnobs"][str(key)] = float(value) except Exception: continue if not normalized["baseFrictionThresholds"] and not normalized["vehicleKnobs"]: return {} return normalized def set_flm_runtime_overrides(overrides) -> None: global _FLM_ACTIVE_OVERRIDES, _FLM_ACTIVE_OVERRIDES_TEXT normalized = normalize_flm_overrides(overrides) text = json.dumps(normalized, sort_keys=True, separators=(",", ":")) if normalized else "" if text == _FLM_ACTIVE_OVERRIDES_TEXT: return _FLM_ACTIVE_OVERRIDES_TEXT = text _FLM_ACTIVE_OVERRIDES = normalized def clear_flm_runtime_overrides() -> None: set_flm_runtime_overrides({}) def get_flm_runtime_overrides() -> dict: return _flm_copy_json(_FLM_ACTIVE_OVERRIDES) if _FLM_ACTIVE_OVERRIDES else {} def flm_runtime_overrides_active() -> bool: return bool(_FLM_ACTIVE_OVERRIDES) def _flm_base_friction_threshold(family: str, v_ego: float, default_fn) -> float: payload = _FLM_ACTIVE_OVERRIDES.get("baseFrictionThresholds", {}).get(family, {}) values = payload.get("values", []) if isinstance(values, list) and len(values) == len(FLM_FRICTION_SPEED_KNOTS): return float(np.interp(v_ego, FLM_FRICTION_SPEED_KNOTS, values)) return float(default_fn(v_ego)) def _flm_vehicle_knob(name: str, default_value: float) -> float: try: return float(_FLM_ACTIVE_OVERRIDES.get("vehicleKnobs", {}).get(name, default_value)) except Exception: return float(default_value) def get_gm_base_friction_threshold(v_ego: float) -> float: return _flm_base_friction_threshold("gm", v_ego, _gm_base_friction_threshold_default) def get_standard_friction_threshold(v_ego: float) -> float: return _flm_base_friction_threshold("standard", v_ego, _standard_friction_threshold_default) def get_hkg_canfd_base_friction_threshold(v_ego: float) -> float: return _flm_base_friction_threshold("hkg_canfd", v_ego, _hkg_canfd_base_friction_threshold_default) def get_trailer_lateral_assist_factor(trailer_load_kg: float, v_ego: float, desired_lateral_accel: float) -> float: load_factor = np.clip(trailer_load_kg / TRAILER_LOAD_FULL_ASSIST_KG, 0.0, 1.0) speed_factor = np.interp(v_ego, [TRAILER_LATERAL_MIN_SPEED, TRAILER_LATERAL_FULL_SPEED], [0.0, 1.0]) lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / TRAILER_LATERAL_LAT_RISE) return float(load_factor * speed_factor * lat_factor) def get_trailer_lateral_ff_scale(trailer_load_kg: float, v_ego: float, desired_lateral_accel: float) -> float: return 1.0 + TRAILER_LATERAL_FF_GAIN * get_trailer_lateral_assist_factor(trailer_load_kg, v_ego, desired_lateral_accel) def get_trailer_lateral_friction_scale(trailer_load_kg: float, v_ego: float, desired_lateral_accel: float) -> float: return 1.0 + TRAILER_LATERAL_FRICTION_GAIN * get_trailer_lateral_assist_factor(trailer_load_kg, v_ego, desired_lateral_accel) def _prius_sigmoid(x: float) -> float: return _sigmoid(x) def _prius_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / PRIUS_TRANSITION_SPEED) ** 2) def _prius_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / PRIUS_PHASE_SCALE) def _prius_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _prius_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / PRIUS_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / PRIUS_FRICTION_JERK_RISE) return _prius_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_prius_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _prius_side_value( desired_lateral_accel, _flm_vehicle_knob("toyota_prius.ff_gain_left", PRIUS_FF_GAIN_LEFT), _flm_vehicle_knob("toyota_prius.ff_gain_right", PRIUS_FF_GAIN_RIGHT), ) abs_lateral_accel = abs(desired_lateral_accel) onset = _prius_sigmoid((abs_lateral_accel - PRIUS_FF_ONSET) / PRIUS_FF_ONSET_WIDTH) cutoff = _prius_sigmoid((PRIUS_FF_CUTOFF - abs_lateral_accel) / PRIUS_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _prius_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_prius_side_value( desired_lateral_accel, _flm_vehicle_knob("toyota_prius.turn_in_boost_left", PRIUS_TURN_IN_BOOST_LEFT), _flm_vehicle_knob("toyota_prius.turn_in_boost_right", PRIUS_TURN_IN_BOOST_RIGHT), ) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_prius_side_value( desired_lateral_accel, _flm_vehicle_knob("toyota_prius.unwind_taper_left", PRIUS_UNWIND_TAPER_LEFT), _flm_vehicle_knob("toyota_prius.unwind_taper_right", PRIUS_UNWIND_TAPER_RIGHT), ) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0)) def get_prius_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) transition_envelope = _prius_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_prius_side_value( desired_lateral_accel, _flm_vehicle_knob("toyota_prius.turn_in_threshold_reduction_left", PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT), _flm_vehicle_knob("toyota_prius.turn_in_threshold_reduction_right", PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT), ) * transition_envelope * turn_in_weight) threshold_scale += (_prius_side_value( desired_lateral_accel, _flm_vehicle_knob("toyota_prius.unwind_threshold_increase_left", PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT), _flm_vehicle_knob("toyota_prius.unwind_threshold_increase_right", PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT), ) * transition_envelope * unwind_weight) center_speed_weight = _prius_sigmoid((v_ego - PRIUS_CENTER_FRICTION_THRESHOLD_SPEED) / PRIUS_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH) center_lat_weight = _prius_sigmoid((PRIUS_CENTER_FRICTION_THRESHOLD_LAT - abs(desired_lateral_accel)) / PRIUS_CENTER_FRICTION_THRESHOLD_LAT_WIDTH) threshold_scale += (_flm_vehicle_knob("toyota_prius.center_friction_threshold_gain", PRIUS_CENTER_FRICTION_THRESHOLD_GAIN) * center_speed_weight * center_lat_weight) return base_threshold * min(max(threshold_scale, 0.86), 1.16) def get_prius_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _prius_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _prius_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = 1.0 friction_scale += (_prius_side_value(desired_lateral_accel, PRIUS_TURN_IN_FRICTION_BOOST_LEFT, PRIUS_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_prius_side_value(desired_lateral_accel, PRIUS_UNWIND_FRICTION_REDUCTION_LEFT, PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.90), 1.14) def get_prius_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _prius_sigmoid((v_ego - PRIUS_CENTER_TAPER_SPEED) / PRIUS_CENTER_TAPER_SPEED_WIDTH) center_weight = _prius_sigmoid((PRIUS_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / PRIUS_CENTER_TAPER_LAT_WIDTH) reduction = _flm_vehicle_knob("toyota_prius.center_taper_max", PRIUS_CENTER_TAPER_MAX) * speed_weight * center_weight return 1.0 - reduction def get_camry_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk speed_weight = _sigmoid((v_ego - CAMRY_CENTER_FRICTION_THRESHOLD_SPEED) / CAMRY_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH) center_weight = _sigmoid((CAMRY_CENTER_FRICTION_THRESHOLD_LAT - abs(desired_lateral_accel)) / CAMRY_CENTER_FRICTION_THRESHOLD_LAT_WIDTH) gain = _flm_vehicle_knob("toyota_camry.center_friction_threshold_gain", CAMRY_CENTER_FRICTION_THRESHOLD_GAIN) return get_standard_friction_threshold(v_ego) * (1.0 + gain * speed_weight * center_weight) def _rav4_prime_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _rav4_prime_speed_weight(v_ego: float) -> float: onset = _sigmoid((v_ego - RAV4_PRIME_SPEED_ONSET) / RAV4_PRIME_SPEED_ONSET_WIDTH) cutoff = _sigmoid((RAV4_PRIME_SPEED_MAX - v_ego) / RAV4_PRIME_SPEED_MAX_WIDTH) return onset * cutoff def _rav4_prime_unwind_weight(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / RAV4_PRIME_PHASE_SCALE) lat_weight = _sigmoid((abs(desired_lateral_accel) - 0.20) / 0.07) return max(-phase, 0.0) * lat_weight def _rav4_prime_turn_in_weight(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / RAV4_PRIME_PHASE_SCALE) lat_weight = _sigmoid((abs(desired_lateral_accel) - 0.20) / 0.07) return max(phase, 0.0) * lat_weight def get_rav4_prime_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: turn_in_boost = _rav4_prime_side_value(desired_lateral_accel, RAV4_PRIME_TURN_IN_FF_BOOST_LEFT, RAV4_PRIME_TURN_IN_FF_BOOST_RIGHT) reduction = _rav4_prime_side_value(desired_lateral_accel, RAV4_PRIME_UNWIND_FF_REDUCTION_LEFT, RAV4_PRIME_UNWIND_FF_REDUCTION_RIGHT) speed_weight = _rav4_prime_speed_weight(v_ego) return (1.0 + (turn_in_boost * _rav4_prime_turn_in_weight(desired_lateral_accel, desired_lateral_jerk) * speed_weight) - (reduction * _rav4_prime_unwind_weight(desired_lateral_accel, desired_lateral_jerk) * speed_weight)) def get_rav4_prime_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk center_weight = _sigmoid((RAV4_PRIME_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / RAV4_PRIME_FRICTION_CENTER_LAT_WIDTH) scale = 1.0 + (RAV4_PRIME_FRICTION_THRESHOLD_GAIN * center_weight * _rav4_prime_speed_weight(v_ego)) return get_standard_friction_threshold(v_ego) * scale def get_rav4_prime_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: reduction = _rav4_prime_side_value(desired_lateral_accel, RAV4_PRIME_UNWIND_FRICTION_REDUCTION_LEFT, RAV4_PRIME_UNWIND_FRICTION_REDUCTION_RIGHT) return 1.0 - (reduction * _rav4_prime_unwind_weight(desired_lateral_accel, desired_lateral_jerk) * _rav4_prime_speed_weight(v_ego)) def get_rav4_prime_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: reduction = _rav4_prime_side_value(desired_lateral_accel, RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_LEFT, RAV4_PRIME_UNWIND_OUTPUT_REDUCTION_RIGHT) hard_reduction = _rav4_prime_side_value(desired_lateral_accel, RAV4_PRIME_HARD_UNWIND_OUTPUT_REDUCTION_LEFT, RAV4_PRIME_HARD_UNWIND_OUTPUT_REDUCTION_RIGHT) hard_curve_weight = _sigmoid((abs(desired_lateral_accel) - RAV4_PRIME_HARD_UNWIND_LAT) / RAV4_PRIME_HARD_UNWIND_LAT_WIDTH) reduction += hard_reduction * hard_curve_weight return 1.0 - (reduction * _rav4_prime_unwind_weight(desired_lateral_accel, desired_lateral_jerk) * _rav4_prime_speed_weight(v_ego)) def _sienna_4th_gen_turn_in_speed_weight(v_ego: float) -> float: onset = _sigmoid((v_ego - SIENNA_4TH_GEN_TURN_IN_SPEED_ONSET) / SIENNA_4TH_GEN_TURN_IN_SPEED_WIDTH) cutoff = _sigmoid((SIENNA_4TH_GEN_TURN_IN_SPEED_MAX - v_ego) / SIENNA_4TH_GEN_TURN_IN_SPEED_MAX_WIDTH) return onset * cutoff def _sienna_4th_gen_friction_speed_weight(v_ego: float) -> float: onset = _sigmoid((v_ego - SIENNA_4TH_GEN_FRICTION_SPEED_ONSET) / SIENNA_4TH_GEN_FRICTION_SPEED_WIDTH) cutoff = _sigmoid((SIENNA_4TH_GEN_FRICTION_SPEED_MAX - v_ego) / SIENNA_4TH_GEN_FRICTION_SPEED_MAX_WIDTH) return onset * cutoff def _sienna_4th_gen_turn_in_weight(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / SIENNA_4TH_GEN_PHASE_SCALE) lat_weight = _sigmoid((abs(desired_lateral_accel) - SIENNA_4TH_GEN_TURN_IN_LAT) / SIENNA_4TH_GEN_TURN_IN_LAT_WIDTH) return max(phase, 0.0) * lat_weight def get_sienna_4th_gen_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 return 1.0 + (SIENNA_4TH_GEN_TURN_IN_FF_BOOST * _sienna_4th_gen_turn_in_weight(desired_lateral_accel, desired_lateral_jerk) * _sienna_4th_gen_turn_in_speed_weight(v_ego)) def get_sienna_4th_gen_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk center_weight = _sigmoid((SIENNA_4TH_GEN_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / SIENNA_4TH_GEN_FRICTION_CENTER_LAT_WIDTH) return get_standard_friction_threshold(v_ego) * ( 1.0 + SIENNA_4TH_GEN_FRICTION_THRESHOLD_GAIN * center_weight * _sienna_4th_gen_friction_speed_weight(v_ego) ) def get_sienna_4th_gen_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: center_weight = _sigmoid((SIENNA_4TH_GEN_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SIENNA_4TH_GEN_CENTER_TAPER_LAT_WIDTH) low_speed_weight = _sigmoid((SIENNA_4TH_GEN_CENTER_TAPER_SPEED_MAX - v_ego) / SIENNA_4TH_GEN_CENTER_TAPER_SPEED_WIDTH) high_speed_onset = _sigmoid((v_ego - SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_ONSET) / SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_ONSET_WIDTH) high_speed_cutoff = _sigmoid((SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX_SPEED - v_ego) / SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX_SPEED_WIDTH) reduction = (SIENNA_4TH_GEN_CENTER_TAPER_MAX * low_speed_weight + SIENNA_4TH_GEN_HIGH_SPEED_CENTER_TAPER_MAX * high_speed_onset * high_speed_cutoff) return 1.0 - (reduction * center_weight) def get_sienna_4th_gen_high_speed_output_taper_scale(v_ego: float) -> float: onset = _sigmoid((v_ego - SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_ONSET) / SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_ONSET_WIDTH) cutoff = _sigmoid((SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX_SPEED - v_ego) / SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX_SPEED_WIDTH) return 1.0 - SIENNA_4TH_GEN_HIGH_SPEED_OUTPUT_TAPER_MAX * onset * cutoff def get_lexus_is_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / LEXUS_IS_PHASE_SCALE) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) lat_weight = _sigmoid((abs(desired_lateral_accel) - LEXUS_IS_UNWIND_LAT_ONSET) / LEXUS_IS_UNWIND_LAT_WIDTH) speed_weight = _sigmoid((v_ego - LEXUS_IS_UNWIND_SPEED_ONSET) / LEXUS_IS_UNWIND_SPEED_WIDTH) turn_in_boost = LEXUS_IS_TURN_IN_FF_BOOST_LEFT if desired_lateral_accel >= 0.0 else LEXUS_IS_TURN_IN_FF_BOOST_RIGHT reduction = LEXUS_IS_UNWIND_FF_REDUCTION_LEFT if desired_lateral_accel >= 0.0 else LEXUS_IS_UNWIND_FF_REDUCTION_RIGHT return (1.0 + (turn_in_boost * turn_in_weight * lat_weight * speed_weight) - (reduction * unwind_weight * lat_weight * speed_weight)) def get_subaru_impreza_pid_output_scale(angle_error_deg: float) -> float: error_weight = min(max((abs(angle_error_deg) - SUBARU_IMPREZA_PID_TAPER_START_DEG) / (SUBARU_IMPREZA_PID_TAPER_FULL_DEG - SUBARU_IMPREZA_PID_TAPER_START_DEG), 0.0), 1.0) return 1.0 - ((1.0 - SUBARU_IMPREZA_PID_TAPER_MIN) * error_weight) def get_ram_1500_transition_output_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: speed_weight = float(np.interp(v_ego, [RAM_1500_TRANSITION_SPEED_ONSET, RAM_1500_TRANSITION_SPEED_FULL], [0.0, 1.0])) jerk_weight = float(np.interp(abs(desired_lateral_jerk), [RAM_1500_TRANSITION_JERK_ONSET, RAM_1500_TRANSITION_JERK_FULL], [0.0, 1.0])) lat_weight = 1.0 - float(np.interp(abs(desired_lateral_accel), [RAM_1500_TRANSITION_LAT_FADE_START, RAM_1500_TRANSITION_LAT_FADE_END], [0.0, 1.0])) return 1.0 - (RAM_1500_TRANSITION_TAPER_MAX * speed_weight * jerk_weight * lat_weight) def get_ram_1500_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / RAM_1500_PHASE_SCALE) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) speed_weight = float(np.interp(v_ego, [RAM_1500_PHASE_SPEED_ONSET, RAM_1500_PHASE_SPEED_FULL], [0.0, 1.0])) lat_weight = _sigmoid((abs(desired_lateral_accel) - RAM_1500_PHASE_LAT_ONSET) / RAM_1500_PHASE_LAT_WIDTH) return 1.0 + ((RAM_1500_TURN_IN_FF_BOOST * turn_in_weight - RAM_1500_UNWIND_FF_REDUCTION * unwind_weight) * speed_weight * lat_weight) def get_kona_non_scc_highway_transition_output_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: speed_weight = float(np.interp(v_ego, [KONA_NON_SCC_TRANSITION_SPEED_ONSET, KONA_NON_SCC_TRANSITION_SPEED_FULL], [0.0, 1.0])) jerk_weight = float(np.interp(abs(desired_lateral_jerk), [KONA_NON_SCC_TRANSITION_JERK_ONSET, KONA_NON_SCC_TRANSITION_JERK_FULL], [0.0, 1.0])) lat_weight = 1.0 - float(np.interp(abs(desired_lateral_accel), [KONA_NON_SCC_TRANSITION_LAT_FADE_START, KONA_NON_SCC_TRANSITION_LAT_FADE_END], [0.0, 1.0])) taper_max = (KONA_NON_SCC_TRANSITION_UNWIND_TAPER_MAX if desired_lateral_accel * desired_lateral_jerk < 0.0 else KONA_NON_SCC_TRANSITION_TURN_IN_TAPER_MAX) return 1.0 - (taper_max * speed_weight * jerk_weight * lat_weight) def get_kona_non_scc_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = float(np.interp(v_ego, [KONA_NON_SCC_CENTER_TAPER_SPEED_ONSET, KONA_NON_SCC_CENTER_TAPER_SPEED_FULL], [0.0, 1.0])) center_weight = float(np.interp(abs(desired_lateral_accel), [0.0, KONA_NON_SCC_CENTER_TAPER_LAT], [1.0, 0.0])) return 1.0 - (KONA_NON_SCC_CENTER_TAPER_MAX * speed_weight * center_weight) def civic_bosch_modified_lateral_testing_ground_active() -> bool: return testing_ground.use("8", "B") def civic_bosch_modified_a_lateral_testing_ground_active() -> bool: return testing_ground.use("8", "A") def get_civic_bosch_modified_a_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _sigmoid((v_ego - CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_SPEED) / CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT_WIDTH) reduction = CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def _civic_bosch_modified_b_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / CIVIC_BOSCH_MODIFIED_B_TRANSITION_SPEED) ** 2) def _civic_bosch_modified_b_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / CIVIC_BOSCH_MODIFIED_B_PHASE_SCALE) def _civic_bosch_modified_b_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_civic_bosch_modified_b_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _sigmoid((abs_lateral_accel - CIVIC_BOSCH_MODIFIED_B_FF_ONSET) / CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH) cutoff = _sigmoid((CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF - abs_lateral_accel) / CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH) base_reduction = _civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_LEFT, CIVIC_BOSCH_MODIFIED_B_FF_REDUCTION_RIGHT) * onset * cutoff phase = _civic_bosch_modified_b_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _civic_bosch_modified_b_low_speed_factor(v_ego) a_variant_active = civic_bosch_modified_a_lateral_testing_ground_active() variant_active = civic_bosch_modified_lateral_testing_ground_active() if a_variant_active: base_reduction -= (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_LEFT, CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_RIGHT) * onset * cutoff) if variant_active: base_reduction += (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT, CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT) * onset * cutoff) turn_in_boost = 1.0 + (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_B_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.40 + 0.60 * low_speed_factor)) if a_variant_active: turn_in_boost *= 1.0 + (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.40 + 0.60 * low_speed_factor)) if variant_active: turn_in_boost *= 1.0 + (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.40 + 0.60 * low_speed_factor)) unwind_taper = 1.0 - (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_LEFT, CIVIC_BOSCH_MODIFIED_B_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) if a_variant_active: unwind_taper *= 1.0 - (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_LEFT, CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) if variant_active: unwind_taper *= 1.0 - (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT, CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_civic_bosch_modified_b_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: if desired_lateral_accel == 0.0 or desired_lateral_jerk == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _sigmoid((abs_lateral_accel - CIVIC_BOSCH_MODIFIED_B_FF_ONSET) / CIVIC_BOSCH_MODIFIED_B_FF_ONSET_WIDTH) cutoff = _sigmoid((CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF - abs_lateral_accel) / CIVIC_BOSCH_MODIFIED_B_FF_CUTOFF_WIDTH) envelope = onset * cutoff * _civic_bosch_modified_b_low_speed_factor(v_ego) phase = _civic_bosch_modified_b_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) a_variant_active = civic_bosch_modified_a_lateral_testing_ground_active() variant_active = civic_bosch_modified_lateral_testing_ground_active() friction_scale = 1.0 friction_scale += (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT) * envelope * turn_in_weight) if a_variant_active: friction_scale += (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT) * envelope * turn_in_weight) if variant_active: friction_scale += (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT, CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT) * envelope * turn_in_weight) friction_scale -= (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT, CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT) * envelope * unwind_weight) if a_variant_active: friction_scale -= (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT, CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT) * envelope * unwind_weight) if variant_active: friction_scale -= (_civic_bosch_modified_b_side_value(desired_lateral_accel, CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT, CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT) * envelope * unwind_weight) return min(max(friction_scale, 0.82), 1.06) def bolt_2017_lateral_testing_ground_active() -> bool: return testing_ground.use(BOLT_2017_LATERAL_TESTING_GROUND_ID) def _bolt_2017_sigmoid(x: float) -> float: return _sigmoid(x) def _bolt_2017_high_speed_factor(v_ego: float) -> float: return _bolt_2017_sigmoid((max(v_ego, 0.0) - BOLT_2017_STEER_RATIO_ONSET_SPEED) / BOLT_2017_STEER_RATIO_ONSET_WIDTH) def get_bolt_2017_steer_ratio_scale(v_ego: float) -> float: return 1.0 + ((BOLT_2017_STEER_RATIO_TEST_SCALE - 1.0) * _bolt_2017_high_speed_factor(v_ego)) def get_bolt_2017_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: center_window = _bolt_2017_sigmoid((BOLT_2017_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / BOLT_2017_CENTER_TAPER_WIDTH) return 1.0 - (BOLT_2017_CENTER_TAPER_GAIN * _bolt_2017_high_speed_factor(v_ego) * center_window) def _bolt_2017_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2017_TRANSITION_SPEED) ** 2) def _bolt_2017_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2017_PHASE_SCALE) def _bolt_2017_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_bolt_2017_base_torque_scale(desired_lateral_accel: float) -> float: if desired_lateral_accel == 0.0: return 1.0 scale_values = BOLT_2017_TORQUE_SCALE_LEFT if desired_lateral_accel > 0.0 else BOLT_2017_TORQUE_SCALE_RIGHT return float(np.interp(abs(desired_lateral_accel), BOLT_2017_TORQUE_SCALE_BP, scale_values)) def get_bolt_2017_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float = 0.0, v_ego: float = 30.0) -> float: base_scale = get_bolt_2017_base_torque_scale(desired_lateral_accel) scale = base_scale if base_scale > 1.0 and desired_lateral_jerk != 0.0: low_speed_factor = _bolt_2017_low_speed_factor(v_ego) phase = _bolt_2017_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) turn_in_boost = 1.0 + (_bolt_2017_side_value(desired_lateral_accel, BOLT_2017_TURN_IN_BOOST_LEFT, BOLT_2017_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_bolt_2017_side_value(desired_lateral_accel, BOLT_2017_UNWIND_TAPER_LEFT, BOLT_2017_UNWIND_TAPER_RIGHT) * unwind_weight * (0.45 + 0.55 * low_speed_factor)) scale = 1.0 + ((base_scale - 1.0) * turn_in_boost * max(unwind_taper, 0.0)) return scale * get_bolt_2017_center_taper_scale(desired_lateral_accel, v_ego) def bolt_2018_2021_lateral_testing_ground_active() -> bool: return testing_ground.use(BOLT_2018_2021_LATERAL_TESTING_GROUND_ID) def _bolt_2018_2021_sigmoid(x: float) -> float: return _sigmoid(x) def _bolt_2018_2021_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2018_2021_TRANSITION_SPEED) ** 2) def _bolt_2018_2021_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2018_2021_PHASE_SCALE) def _bolt_2018_2021_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _bolt_2018_2021_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2018_2021_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2018_2021_FRICTION_JERK_RISE) return _bolt_2018_2021_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_bolt_2018_2021_torque_scale(desired_lateral_accel: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = BOLT_2018_2021_TORQUE_GAIN_LEFT if desired_lateral_accel > 0.0 else BOLT_2018_2021_TORQUE_GAIN_RIGHT abs_lateral_accel = abs(desired_lateral_accel) onset = _bolt_2018_2021_sigmoid((abs_lateral_accel - BOLT_2018_2021_TORQUE_ONSET) / BOLT_2018_2021_TORQUE_ONSET_WIDTH) cutoff = _bolt_2018_2021_sigmoid((BOLT_2018_2021_TORQUE_CUTOFF - abs_lateral_accel) / BOLT_2018_2021_TORQUE_CUTOFF_WIDTH) return 1.0 + gain * onset * cutoff def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: base_scale = get_bolt_2018_2021_torque_scale(desired_lateral_accel) extra_scale = max(base_scale - 1.0, 0.0) abs_lateral_accel = abs(desired_lateral_accel) low_speed_factor = _bolt_2018_2021_low_speed_factor(v_ego) high_speed_factor = 1.0 - low_speed_factor center_window = _bolt_2018_2021_sigmoid((BOLT_2018_2021_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2018_2021_CENTER_TAPER_WIDTH) center_taper = 1.0 - (BOLT_2018_2021_CENTER_TAPER_GAIN * high_speed_factor * center_window) phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) jerk_taper = 1.0 / (1.0 + (abs(desired_lateral_jerk) / BOLT_2018_2021_JERK_TAPER_CUTOFF) ** 2) turn_in_boost = 1.0 + (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_BOOST_LEFT, BOLT_2018_2021_TURN_IN_BOOST_RIGHT) * turn_in_weight * low_speed_factor) unwind_weight = max(-phase, 0.0) unwind_taper = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT, BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT) * unwind_weight * (0.55 + 0.45 * low_speed_factor)) return 1.0 + (extra_scale * center_taper * jerk_taper * turn_in_boost * max(unwind_taper, 0.0)) def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) transition_envelope = _bolt_2018_2021_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT) * transition_envelope * turn_in_weight) threshold_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.82), 1.12) def get_bolt_2018_2021_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _bolt_2018_2021_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = BOLT_2018_2021_FRICTION_MULT friction_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.88), 1.10) def bolt_2022_2023_lateral_testing_ground_active() -> bool: return testing_ground.use(BOLT_2022_2023_LATERAL_TESTING_GROUND_ID) def _bolt_2022_2023_sigmoid(x: float) -> float: return _sigmoid(x) def _bolt_2022_2023_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2022_2023_TRANSITION_SPEED) ** 2) def _bolt_2022_2023_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2022_2023_PHASE_SCALE) def _bolt_2022_2023_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _bolt_2022_2023_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2022_2023_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2022_2023_FRICTION_JERK_RISE) return _bolt_2022_2023_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _bolt_2022_2023_side_value( desired_lateral_accel, _flm_vehicle_knob("gm_bolt_2022_2023.ff_gain_left", BOLT_2022_2023_FF_GAIN_LEFT), _flm_vehicle_knob("gm_bolt_2022_2023.ff_gain_right", BOLT_2022_2023_FF_GAIN_RIGHT), ) abs_lateral_accel = abs(desired_lateral_accel) onset = _bolt_2022_2023_sigmoid((abs_lateral_accel - BOLT_2022_2023_FF_ONSET) / BOLT_2022_2023_FF_ONSET_WIDTH) cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff speed_weight = _bolt_2022_2023_sigmoid((v_ego - BOLT_2022_2023_CENTER_TAPER_SPEED) / BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH) center_weight = _bolt_2022_2023_sigmoid((BOLT_2022_2023_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH) center_taper = 1.0 - (_flm_vehicle_knob("gm_bolt_2022_2023.center_taper_max", BOLT_2022_2023_CENTER_TAPER_MAX) * speed_weight * center_weight) low_speed_factor = _bolt_2022_2023_low_speed_factor(v_ego) transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) turn_in_boost = 1.0 + (_bolt_2022_2023_side_value( desired_lateral_accel, _flm_vehicle_knob("gm_bolt_2022_2023.turn_in_boost_left", BOLT_2022_2023_TURN_IN_BOOST_LEFT), _flm_vehicle_knob("gm_bolt_2022_2023.turn_in_boost_right", BOLT_2022_2023_TURN_IN_BOOST_RIGHT), ) * turn_in_weight * low_speed_factor) unwind_envelope = (0.25 + 0.75 * low_speed_factor) * (1.0 + 0.45 * transition_envelope) unwind_taper = 1.0 - (_bolt_2022_2023_side_value( desired_lateral_accel, _flm_vehicle_knob("gm_bolt_2022_2023.unwind_taper_left", BOLT_2022_2023_UNWIND_TAPER_LEFT), _flm_vehicle_knob("gm_bolt_2022_2023.unwind_taper_right", BOLT_2022_2023_UNWIND_TAPER_RIGHT), ) * unwind_weight * unwind_envelope) return 1.0 + (extra_scale * center_taper * turn_in_boost * max(unwind_taper, 0.0)) def get_bolt_2022_2023_center_output_scale(desired_lateral_accel: float, v_ego: float) -> float: highway_speed_weight = _bolt_2022_2023_sigmoid((v_ego - BOLT_2022_2023_CENTER_TAPER_SPEED) / BOLT_2022_2023_CENTER_TAPER_SPEED_WIDTH) highway_center_weight = _bolt_2022_2023_sigmoid((BOLT_2022_2023_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / BOLT_2022_2023_CENTER_TAPER_LAT_WIDTH) low_speed_onset = _bolt_2022_2023_sigmoid((v_ego - BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED) / BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH) low_speed_cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) / BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_SPEED_MAX_WIDTH) low_speed_center_weight = _bolt_2022_2023_sigmoid((BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_LAT_WIDTH) highway_reduction = (_flm_vehicle_knob("gm_bolt_2022_2023.center_taper_max", BOLT_2022_2023_CENTER_TAPER_MAX) * highway_speed_weight * highway_center_weight) low_speed_reduction = (BOLT_2022_2023_LOW_SPEED_CENTER_TAPER_MAX * low_speed_onset * low_speed_cutoff * low_speed_center_weight) return 1.0 - min(highway_reduction + low_speed_reduction, 0.95) def get_bolt_2022_2023_low_speed_center_output_limit(desired_lateral_accel: float, v_ego: float) -> float: """Limit small-signal output while the Bolt is in its low-speed chatter band.""" speed_onset = _bolt_2022_2023_sigmoid( (v_ego - BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED) / BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_WIDTH ) speed_cutoff = _bolt_2022_2023_sigmoid( (BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX - v_ego) / BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_SPEED_MAX_WIDTH ) center_weight = _bolt_2022_2023_sigmoid( (BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT - abs(desired_lateral_accel)) / BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LAT_WIDTH ) speed_weight = speed_onset * speed_cutoff reduction = (1.0 - BOLT_2022_2023_LOW_SPEED_CENTER_OUTPUT_LIMIT) * speed_weight * center_weight return 1.0 - reduction def get_bolt_2022_2023_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) center_weight = _bolt_2022_2023_sigmoid( (BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_LAT - abs(desired_lateral_accel)) / BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_LAT_WIDTH ) low_speed_weight = _bolt_2022_2023_sigmoid( (BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_SPEED - v_ego) / BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH ) base_threshold += (BOLT_2022_2023_CENTER_FRICTION_THRESHOLD_BUMP * center_weight * low_speed_weight) transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_bolt_2022_2023_side_value( desired_lateral_accel, _flm_vehicle_knob("gm_bolt_2022_2023.turn_in_threshold_reduction_left", BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT), _flm_vehicle_knob("gm_bolt_2022_2023.turn_in_threshold_reduction_right", BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT), ) * transition_envelope * turn_in_weight) threshold_scale += (_bolt_2022_2023_side_value( desired_lateral_accel, _flm_vehicle_knob("gm_bolt_2022_2023.unwind_threshold_increase_left", BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT), _flm_vehicle_knob("gm_bolt_2022_2023.unwind_threshold_increase_right", BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT), ) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.84), 1.14) def get_bolt_2022_2023_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = BOLT_2022_2023_FRICTION_MULT friction_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.92), 1.22) def volt_standard_lateral_testing_ground_active() -> bool: return testing_ground.use(VOLT_STANDARD_LATERAL_TESTING_GROUND_ID) def _volt_standard_sigmoid(x: float) -> float: return _sigmoid(x) def _volt_standard_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / VOLT_STANDARD_TRANSITION_SPEED) ** 2) def _volt_standard_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / VOLT_STANDARD_PHASE_SCALE) def _volt_standard_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _volt_standard_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / VOLT_STANDARD_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / VOLT_STANDARD_FRICTION_JERK_RISE) return _volt_standard_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_volt_standard_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_FF_GAIN_LEFT, VOLT_STANDARD_FF_GAIN_RIGHT) abs_lateral_accel = abs(desired_lateral_accel) onset = _volt_standard_sigmoid((abs_lateral_accel - VOLT_STANDARD_FF_ONSET) / VOLT_STANDARD_FF_ONSET_WIDTH) cutoff = _volt_standard_sigmoid((VOLT_STANDARD_FF_CUTOFF - abs_lateral_accel) / VOLT_STANDARD_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _volt_standard_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _volt_standard_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_TURN_IN_BOOST_LEFT, VOLT_STANDARD_TURN_IN_BOOST_RIGHT) * turn_in_weight * low_speed_factor) unwind_taper = 1.0 - (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_UNWIND_TAPER_LEFT, VOLT_STANDARD_UNWIND_TAPER_RIGHT) * unwind_weight * (0.30 + 0.70 * low_speed_factor)) return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0)) def get_volt_standard_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) transition_envelope = _volt_standard_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _volt_standard_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT, VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT) * transition_envelope * turn_in_weight) threshold_scale += (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT, VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.84), 1.12) def get_volt_standard_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _volt_standard_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _volt_standard_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = VOLT_STANDARD_FRICTION_MULT friction_scale += (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT, VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_volt_standard_side_value(desired_lateral_accel, VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT, VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.90), 1.14) def get_volt_standard_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _volt_standard_sigmoid((v_ego - VOLT_STANDARD_CENTER_TAPER_SPEED) / VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH) center_weight = _volt_standard_sigmoid((VOLT_STANDARD_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH) reduction = VOLT_STANDARD_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def get_silverado_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _sigmoid((v_ego - SILVERADO_CENTER_TAPER_SPEED) / SILVERADO_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((SILVERADO_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SILVERADO_CENTER_TAPER_LAT_WIDTH) reduction = SILVERADO_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def _sonata_hybrid_sigmoid(x: float) -> float: return _sigmoid(x) def _sonata_hybrid_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / SONATA_HYBRID_TRANSITION_SPEED) ** 2) def _sonata_hybrid_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / SONATA_HYBRID_PHASE_SCALE) def _sonata_hybrid_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_sonata_hybrid_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _sonata_hybrid_sigmoid((abs_lateral_accel - SONATA_HYBRID_FF_ONSET) / SONATA_HYBRID_FF_ONSET_WIDTH) cutoff = _sonata_hybrid_sigmoid((SONATA_HYBRID_FF_CUTOFF - abs_lateral_accel) / SONATA_HYBRID_FF_CUTOFF_WIDTH) base_reduction = _sonata_hybrid_side_value(desired_lateral_accel, SONATA_HYBRID_FF_REDUCTION_LEFT, SONATA_HYBRID_FF_REDUCTION_RIGHT) * onset * cutoff phase = _sonata_hybrid_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _sonata_hybrid_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_sonata_hybrid_side_value(desired_lateral_accel, SONATA_HYBRID_TURN_IN_BOOST_LEFT, SONATA_HYBRID_TURN_IN_BOOST_RIGHT) * turn_in_weight * low_speed_factor) unwind_taper = 1.0 - (_sonata_hybrid_side_value(desired_lateral_accel, SONATA_HYBRID_UNWIND_TAPER_LEFT, SONATA_HYBRID_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_sonata_hybrid_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _sonata_hybrid_sigmoid((v_ego - SONATA_HYBRID_CENTER_TAPER_SPEED) / SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH) center_weight = _sonata_hybrid_sigmoid((SONATA_HYBRID_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH) reduction = SONATA_HYBRID_CENTER_TAPER_MAX * speed_weight * center_weight low_speed_weight = _sonata_hybrid_sigmoid((SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) / SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH) low_speed_center_weight = _sonata_hybrid_sigmoid((SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH) reduction += SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX * low_speed_weight * low_speed_center_weight return 1.0 - reduction def _sonata_sigmoid(x: float) -> float: return _sigmoid(x) def _sonata_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / SONATA_TRANSITION_SPEED) ** 2) def _sonata_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / SONATA_PHASE_SCALE) def _sonata_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_sonata_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _sonata_sigmoid((abs_lateral_accel - SONATA_FF_ONSET) / SONATA_FF_ONSET_WIDTH) cutoff = _sonata_sigmoid((SONATA_FF_CUTOFF - abs_lateral_accel) / SONATA_FF_CUTOFF_WIDTH) base_reduction = _sonata_side_value(desired_lateral_accel, SONATA_FF_REDUCTION_LEFT, SONATA_FF_REDUCTION_RIGHT) * onset * cutoff phase = _sonata_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _sonata_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_sonata_side_value(desired_lateral_accel, SONATA_TURN_IN_BOOST_LEFT, SONATA_TURN_IN_BOOST_RIGHT) * turn_in_weight * low_speed_factor) unwind_taper = 1.0 - (_sonata_side_value(desired_lateral_accel, SONATA_UNWIND_TAPER_LEFT, SONATA_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_sonata_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _sonata_sigmoid((v_ego - SONATA_CENTER_TAPER_SPEED) / SONATA_CENTER_TAPER_SPEED_WIDTH) center_weight = _sonata_sigmoid((SONATA_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_CENTER_TAPER_LAT_WIDTH) reduction = SONATA_CENTER_TAPER_MAX * speed_weight * center_weight low_speed_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) / SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH) low_speed_center_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH) reduction += SONATA_LOW_SPEED_CENTER_TAPER_MAX * low_speed_weight * low_speed_center_weight return 1.0 - reduction def _elantra_non_scc_sigmoid(x: float) -> float: return _sigmoid(x) def _elantra_non_scc_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / ELANTRA_NON_SCC_TRANSITION_SPEED) ** 2) def _elantra_non_scc_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / ELANTRA_NON_SCC_PHASE_SCALE) def _elantra_non_scc_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_elantra_non_scc_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _elantra_non_scc_sigmoid((abs_lateral_accel - ELANTRA_NON_SCC_FF_ONSET) / ELANTRA_NON_SCC_FF_ONSET_WIDTH) cutoff = _elantra_non_scc_sigmoid((ELANTRA_NON_SCC_FF_CUTOFF - abs_lateral_accel) / ELANTRA_NON_SCC_FF_CUTOFF_WIDTH) low_speed_factor = _elantra_non_scc_low_speed_factor(v_ego) envelope = onset * cutoff * low_speed_factor base_scale = 1.0 - (_elantra_non_scc_side_value(desired_lateral_accel, ELANTRA_NON_SCC_FF_ADJUST_LEFT, ELANTRA_NON_SCC_FF_ADJUST_RIGHT) * envelope) phase = _elantra_non_scc_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) turn_in_boost = 1.0 + (_elantra_non_scc_side_value(desired_lateral_accel, ELANTRA_NON_SCC_TURN_IN_BOOST_LEFT, ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_elantra_non_scc_side_value(desired_lateral_accel, ELANTRA_NON_SCC_UNWIND_TAPER_LEFT, ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return base_scale * turn_in_boost * max(unwind_taper, 0.0) def _kia_xceed_sigmoid(x: float) -> float: return _sigmoid(x) def _kia_xceed_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / KIA_XCEED_TRANSITION_SPEED) ** 2) def _kia_xceed_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / KIA_XCEED_PHASE_SCALE) def _kia_xceed_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_kia_xceed_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _kia_xceed_sigmoid((abs_lateral_accel - KIA_XCEED_FF_ONSET) / KIA_XCEED_FF_ONSET_WIDTH) cutoff = _kia_xceed_sigmoid((KIA_XCEED_FF_CUTOFF - abs_lateral_accel) / KIA_XCEED_FF_CUTOFF_WIDTH) base_reduction = _kia_xceed_side_value(desired_lateral_accel, KIA_XCEED_FF_REDUCTION_LEFT, KIA_XCEED_FF_REDUCTION_RIGHT) * onset * cutoff phase = _kia_xceed_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _kia_xceed_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_kia_xceed_side_value(desired_lateral_accel, KIA_XCEED_TURN_IN_BOOST_LEFT, KIA_XCEED_TURN_IN_BOOST_RIGHT) * turn_in_weight * low_speed_factor) unwind_taper = 1.0 - (_kia_xceed_side_value(desired_lateral_accel, KIA_XCEED_UNWIND_TAPER_LEFT, KIA_XCEED_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_kia_xceed_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _kia_xceed_sigmoid((v_ego - KIA_XCEED_CENTER_TAPER_SPEED) / KIA_XCEED_CENTER_TAPER_SPEED_WIDTH) center_weight = _kia_xceed_sigmoid((KIA_XCEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_XCEED_CENTER_TAPER_LAT_WIDTH) reduction = KIA_XCEED_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def get_kia_niro_phev_2022_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _sigmoid((v_ego - KIA_NIRO_PHEV_2022_CENTER_TAPER_SPEED) / KIA_NIRO_PHEV_2022_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((KIA_NIRO_PHEV_2022_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_NIRO_PHEV_2022_CENTER_TAPER_LAT_WIDTH) reduction = KIA_NIRO_PHEV_2022_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def get_kia_niro_phev_2022_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) speed_weight = _sigmoid((v_ego - KIA_NIRO_PHEV_2022_FRICTION_SPEED) / KIA_NIRO_PHEV_2022_FRICTION_SPEED_WIDTH) center_weight = _sigmoid((KIA_NIRO_PHEV_2022_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / KIA_NIRO_PHEV_2022_FRICTION_CENTER_LAT_WIDTH) calm_jerk_weight = _sigmoid((KIA_NIRO_PHEV_2022_FRICTION_CALM_JERK - abs(desired_lateral_jerk)) / KIA_NIRO_PHEV_2022_FRICTION_CALM_JERK_WIDTH) threshold_scale = 1.0 + (KIA_NIRO_PHEV_2022_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight * calm_jerk_weight) return base_threshold * min(max(threshold_scale, 1.0), 1.18) def _kia_stinger_2022_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]: speed_weight = _sigmoid((v_ego - KIA_STINGER_2022_CENTER_TAPER_SPEED) / KIA_STINGER_2022_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((KIA_STINGER_2022_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_STINGER_2022_CENTER_TAPER_LAT_WIDTH) return speed_weight, center_weight def get_kia_stinger_2022_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight, center_weight = _kia_stinger_2022_center_weights(desired_lateral_accel, v_ego) return 1.0 - (KIA_STINGER_2022_CENTER_TAPER_MAX * speed_weight * center_weight) def get_kia_stinger_2022_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk speed_weight, center_weight = _kia_stinger_2022_center_weights(desired_lateral_accel, v_ego) return get_standard_friction_threshold(v_ego) * (1.0 + KIA_STINGER_2022_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight) def _kia_carnival_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]: speed_onset = _sigmoid((v_ego - KIA_CARNIVAL_CENTER_TAPER_SPEED) / KIA_CARNIVAL_CENTER_TAPER_SPEED_WIDTH) speed_cutoff = _sigmoid((KIA_CARNIVAL_CENTER_TAPER_SPEED_MAX - v_ego) / KIA_CARNIVAL_CENTER_TAPER_SPEED_MAX_WIDTH) speed_weight = speed_onset * speed_cutoff center_weight = _sigmoid((KIA_CARNIVAL_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_CARNIVAL_CENTER_TAPER_LAT_WIDTH) return speed_weight, center_weight def _kia_carnival_highway_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]: speed_weight = _sigmoid((v_ego - KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED) / KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_LAT_WIDTH) return speed_weight, center_weight def get_kia_carnival_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight, center_weight = _kia_carnival_center_weights(desired_lateral_accel, v_ego) highway_speed_weight, highway_center_weight = _kia_carnival_highway_center_weights(desired_lateral_accel, v_ego) reduction = KIA_CARNIVAL_CENTER_TAPER_MAX * speed_weight * center_weight reduction += KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_MAX * highway_speed_weight * highway_center_weight return 1.0 - min(reduction, 0.95) def get_kia_carnival_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk speed_weight, center_weight = _kia_carnival_center_weights(desired_lateral_accel, v_ego) highway_speed_weight, highway_center_weight = _kia_carnival_highway_center_weights(desired_lateral_accel, v_ego) gain = KIA_CARNIVAL_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight gain += KIA_CARNIVAL_HIGHWAY_FRICTION_THRESHOLD_GAIN * highway_speed_weight * highway_center_weight return get_hkg_canfd_base_friction_threshold(v_ego) * (1.0 + gain) def get_kia_carnival_friction_center_fade_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight, center_weight = _kia_carnival_center_weights(desired_lateral_accel, v_ego) highway_speed_weight, highway_center_weight = _kia_carnival_highway_center_weights(desired_lateral_accel, v_ego) reduction = KIA_CARNIVAL_FRICTION_CENTER_FADE_MAX * speed_weight * center_weight reduction += KIA_CARNIVAL_HIGHWAY_FRICTION_CENTER_FADE_MAX * highway_speed_weight * highway_center_weight return 1.0 - min(reduction, 0.95) def get_kia_carnival_highway_transition_output_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: speed_weight = _sigmoid((v_ego - KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED) / KIA_CARNIVAL_HIGHWAY_CENTER_TAPER_SPEED_WIDTH) jerk_weight = _sigmoid((abs(desired_lateral_jerk) - KIA_CARNIVAL_HIGHWAY_TRANSITION_JERK) / KIA_CARNIVAL_HIGHWAY_TRANSITION_JERK_WIDTH) lat_weight = _sigmoid((KIA_CARNIVAL_HIGHWAY_TRANSITION_LAT_CUTOFF - abs(desired_lateral_accel)) / KIA_CARNIVAL_HIGHWAY_TRANSITION_LAT_WIDTH) return 1.0 - (KIA_CARNIVAL_HIGHWAY_TRANSITION_TAPER_MAX * speed_weight * jerk_weight * lat_weight) def _tucson_4th_gen_center_weights(desired_lateral_accel: float, v_ego: float) -> tuple[float, float]: speed_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_SPEED_MAX - v_ego) / TUCSON_4TH_GEN_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((TUCSON_4TH_GEN_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / TUCSON_4TH_GEN_CENTER_TAPER_LAT_WIDTH) return speed_weight, center_weight def get_tucson_4th_gen_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight, center_weight = _tucson_4th_gen_center_weights(desired_lateral_accel, v_ego) return 1.0 - (TUCSON_4TH_GEN_CENTER_TAPER_MAX * speed_weight * center_weight) def get_tucson_4th_gen_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: del desired_lateral_jerk speed_weight, center_weight = _tucson_4th_gen_center_weights(desired_lateral_accel, v_ego) return get_hkg_canfd_base_friction_threshold(v_ego) * (1.0 + TUCSON_4TH_GEN_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight) def _kia_forte_sigmoid(x: float) -> float: return _sigmoid(x) def _kia_forte_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / KIA_FORTE_TRANSITION_SPEED) ** 2) def _kia_forte_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / KIA_FORTE_PHASE_SCALE) def _kia_forte_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_kia_forte_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _kia_forte_sigmoid((abs_lateral_accel - KIA_FORTE_FF_ONSET) / KIA_FORTE_FF_ONSET_WIDTH) cutoff = _kia_forte_sigmoid((KIA_FORTE_FF_CUTOFF - abs_lateral_accel) / KIA_FORTE_FF_CUTOFF_WIDTH) base_reduction = _kia_forte_side_value(desired_lateral_accel, KIA_FORTE_FF_REDUCTION_LEFT, KIA_FORTE_FF_REDUCTION_RIGHT) * onset * cutoff phase = _kia_forte_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _kia_forte_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_kia_forte_side_value(desired_lateral_accel, KIA_FORTE_TURN_IN_BOOST_LEFT, KIA_FORTE_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_kia_forte_side_value(desired_lateral_accel, KIA_FORTE_UNWIND_TAPER_LEFT, KIA_FORTE_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) crawl_turn_in_scale = 0.0 if desired_lateral_accel * desired_lateral_jerk > 0.0: crawl_speed_weight = _kia_forte_sigmoid((KIA_FORTE_CRAWL_TURN_IN_FF_SPEED - max(v_ego, 0.0)) / KIA_FORTE_CRAWL_TURN_IN_FF_SPEED_WIDTH) crawl_lat_weight = _kia_forte_sigmoid((abs_lateral_accel - KIA_FORTE_CRAWL_TURN_IN_FF_LAT) / KIA_FORTE_CRAWL_TURN_IN_FF_LAT_WIDTH) crawl_turn_in_scale = _kia_forte_side_value(desired_lateral_accel, KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_LEFT, KIA_FORTE_CRAWL_TURN_IN_FF_BOOST_RIGHT) * crawl_speed_weight * crawl_lat_weight return ((1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0)) + crawl_turn_in_scale def get_kia_forte_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _kia_forte_sigmoid((v_ego - KIA_FORTE_CENTER_TAPER_SPEED) / KIA_FORTE_CENTER_TAPER_SPEED_WIDTH) center_weight = _kia_forte_sigmoid((KIA_FORTE_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_FORTE_CENTER_TAPER_LAT_WIDTH) reduction = KIA_FORTE_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def get_kia_forte_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) speed_weight = _kia_forte_sigmoid((v_ego - KIA_FORTE_FRICTION_SPEED) / KIA_FORTE_FRICTION_SPEED_WIDTH) center_weight = _kia_forte_sigmoid((KIA_FORTE_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / KIA_FORTE_FRICTION_CENTER_LAT_WIDTH) calm_jerk_weight = _kia_forte_sigmoid((KIA_FORTE_FRICTION_CALM_JERK - abs(desired_lateral_jerk)) / KIA_FORTE_FRICTION_CALM_JERK_WIDTH) threshold_scale = 1.0 + (KIA_FORTE_FRICTION_THRESHOLD_GAIN * speed_weight * center_weight * calm_jerk_weight) return base_threshold * min(max(threshold_scale, 1.0), 1.18) def _palisade_sigmoid(x: float) -> float: return _sigmoid(x) def _palisade_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / PALISADE_TRANSITION_SPEED) ** 2) def _palisade_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / PALISADE_PHASE_SCALE) def _palisade_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _palisade_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / PALISADE_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / PALISADE_FRICTION_JERK_RISE) return _palisade_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_palisade_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _palisade_side_value(desired_lateral_accel, PALISADE_FF_GAIN_LEFT, PALISADE_FF_GAIN_RIGHT) abs_lateral_accel = abs(desired_lateral_accel) onset = _palisade_sigmoid((abs_lateral_accel - PALISADE_FF_ONSET) / PALISADE_FF_ONSET_WIDTH) cutoff = _palisade_sigmoid((PALISADE_FF_CUTOFF - abs_lateral_accel) / PALISADE_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _palisade_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_BOOST_LEFT, PALISADE_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_TAPER_LEFT, PALISADE_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0)) def get_palisade_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT, PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT) * transition_envelope * turn_in_weight) threshold_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT, PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.84), 1.14) def get_palisade_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = PALISADE_FRICTION_MULT friction_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_FRICTION_BOOST_LEFT, PALISADE_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_FRICTION_REDUCTION_LEFT, PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.92), 1.12) def genesis_g90_lateral_testing_ground_active() -> bool: return testing_ground.use(GENESIS_G90_LATERAL_TESTING_GROUND_ID) def _genesis_g90_sigmoid(x: float) -> float: return _sigmoid(x) def _genesis_g90_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / GENESIS_G90_TRANSITION_SPEED) ** 2) def _genesis_g90_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / GENESIS_G90_PHASE_SCALE) def _genesis_g90_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _genesis_g90_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / GENESIS_G90_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / GENESIS_G90_FRICTION_JERK_RISE) return _genesis_g90_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_genesis_g90_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_FF_GAIN_LEFT, GENESIS_G90_FF_GAIN_RIGHT) abs_lateral_accel = abs(desired_lateral_accel) onset = _genesis_g90_sigmoid((abs_lateral_accel - GENESIS_G90_FF_ONSET) / GENESIS_G90_FF_ONSET_WIDTH) cutoff = _genesis_g90_sigmoid((GENESIS_G90_FF_CUTOFF - abs_lateral_accel) / GENESIS_G90_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _genesis_g90_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _genesis_g90_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_TURN_IN_BOOST_LEFT, GENESIS_G90_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_UNWIND_TAPER_LEFT, GENESIS_G90_UNWIND_TAPER_RIGHT) * unwind_weight * (0.30 + 0.70 * low_speed_factor)) return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0)) def get_genesis_g90_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_gm_base_friction_threshold(v_ego) transition_envelope = _genesis_g90_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _genesis_g90_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT, GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT) * transition_envelope * turn_in_weight) threshold_scale += (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT, GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.86), 1.12) def get_genesis_g90_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _genesis_g90_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _genesis_g90_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = GENESIS_G90_FRICTION_MULT friction_scale += (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT, GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_genesis_g90_side_value(desired_lateral_accel, GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT, GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.92), 1.12) def get_genesis_gv70_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_hkg_canfd_base_friction_threshold(v_ego) speed_onset = _sigmoid((v_ego - GENESIS_GV70_FRICTION_SPEED_ONSET) / GENESIS_GV70_FRICTION_SPEED_ONSET_WIDTH) speed_cutoff = _sigmoid((GENESIS_GV70_FRICTION_SPEED_CUTOFF - v_ego) / GENESIS_GV70_FRICTION_SPEED_CUTOFF_WIDTH) center_weight = _sigmoid((GENESIS_GV70_FRICTION_CENTER_LAT - abs(desired_lateral_accel)) / GENESIS_GV70_FRICTION_CENTER_LAT_WIDTH) calm_jerk_weight = _sigmoid((GENESIS_GV70_FRICTION_CALM_JERK - abs(desired_lateral_jerk)) / GENESIS_GV70_FRICTION_CALM_JERK_WIDTH) gain = (GENESIS_GV70_FRICTION_THRESHOLD_GAIN * speed_onset * speed_cutoff * center_weight * calm_jerk_weight) return base_threshold * (1.0 + gain) def _ioniq_5_sigmoid(x: float) -> float: return _sigmoid(x) def _ioniq_5_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / IONIQ_5_TRANSITION_SPEED) ** 2) def _ioniq_5_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_5_PHASE_SCALE) def _ioniq_5_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _ioniq_5_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: abs_lateral_accel = abs(desired_lateral_accel) onset = _ioniq_5_sigmoid((abs_lateral_accel - IONIQ_5_FF_ONSET) / IONIQ_5_FF_ONSET_WIDTH) cutoff = _ioniq_5_sigmoid((IONIQ_5_FF_CUTOFF - abs_lateral_accel) / IONIQ_5_FF_CUTOFF_WIDTH) return onset * cutoff * _ioniq_5_low_speed_factor(v_ego) def get_ioniq_5_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 envelope = _ioniq_5_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _ioniq_5_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _ioniq_5_low_speed_factor(v_ego) abs_lateral_accel = abs(desired_lateral_accel) base_reduction = _ioniq_5_side_value(desired_lateral_accel, IONIQ_5_FF_REDUCTION_LEFT, IONIQ_5_FF_REDUCTION_RIGHT) * envelope turn_in_boost = 1.0 + (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_TURN_IN_BOOST_LEFT, IONIQ_5_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_UNWIND_TAPER_LEFT, IONIQ_5_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) sustained_turn_in_scale = 0.0 if desired_lateral_accel * desired_lateral_jerk > 0.0: sustained_speed_weight = _ioniq_5_sigmoid((max(v_ego, 0.0) - IONIQ_5_SUSTAINED_TURN_IN_FF_SPEED) / IONIQ_5_SUSTAINED_TURN_IN_FF_SPEED_WIDTH) sustained_lat_onset = _ioniq_5_sigmoid((abs_lateral_accel - IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_START) / IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_WIDTH) sustained_lat_cutoff = _ioniq_5_sigmoid((IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_END - abs_lateral_accel) / IONIQ_5_SUSTAINED_TURN_IN_FF_LAT_WIDTH) sustained_turn_in_scale = (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_SUSTAINED_TURN_IN_FF_BOOST_LEFT, IONIQ_5_SUSTAINED_TURN_IN_FF_BOOST_RIGHT) * sustained_speed_weight * sustained_lat_onset * sustained_lat_cutoff) return (1.0 + sustained_turn_in_scale) * (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_ioniq_5_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_hkg_canfd_base_friction_threshold(v_ego) envelope = _ioniq_5_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _ioniq_5_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT, IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT) * envelope * turn_in_weight) threshold_scale += (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT, IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT) * envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.86), 1.18) def get_ioniq_5_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: if desired_lateral_accel == 0.0 or desired_lateral_jerk == 0.0: return 1.0 envelope = _ioniq_5_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _ioniq_5_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = 1.0 friction_scale += (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT, IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT) * envelope * turn_in_weight) friction_scale -= (_ioniq_5_side_value(desired_lateral_accel, IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT, IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT) * envelope * unwind_weight) return min(max(friction_scale, 0.86), 1.04) def get_ioniq_5_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _ioniq_5_sigmoid((v_ego - IONIQ_5_CENTER_TAPER_SPEED) / IONIQ_5_CENTER_TAPER_SPEED_WIDTH) center_weight = _ioniq_5_sigmoid((IONIQ_5_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_5_CENTER_TAPER_LAT_WIDTH) reduction = IONIQ_5_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def _ioniq_ev_old_sigmoid(x: float) -> float: return _sigmoid(x) def _ioniq_ev_old_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / IONIQ_EV_OLD_TRANSITION_SPEED) ** 2) def _ioniq_ev_old_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_EV_OLD_PHASE_SCALE) def _ioniq_ev_old_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_ioniq_ev_old_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _ioniq_ev_old_sigmoid((abs_lateral_accel - IONIQ_EV_OLD_FF_ONSET) / IONIQ_EV_OLD_FF_ONSET_WIDTH) cutoff = _ioniq_ev_old_sigmoid((IONIQ_EV_OLD_FF_CUTOFF - abs_lateral_accel) / IONIQ_EV_OLD_FF_CUTOFF_WIDTH) base_reduction = _ioniq_ev_old_side_value(desired_lateral_accel, IONIQ_EV_OLD_FF_REDUCTION_LEFT, IONIQ_EV_OLD_FF_REDUCTION_RIGHT) * onset * cutoff phase = _ioniq_ev_old_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _ioniq_ev_old_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_ioniq_ev_old_side_value(desired_lateral_accel, IONIQ_EV_OLD_TURN_IN_BOOST_LEFT, IONIQ_EV_OLD_TURN_IN_BOOST_RIGHT) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_ioniq_ev_old_side_value(desired_lateral_accel, IONIQ_EV_OLD_UNWIND_TAPER_LEFT, IONIQ_EV_OLD_UNWIND_TAPER_RIGHT) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0) def get_ioniq_ev_old_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _ioniq_ev_old_sigmoid((v_ego - IONIQ_EV_OLD_CENTER_TAPER_SPEED) / IONIQ_EV_OLD_CENTER_TAPER_SPEED_WIDTH) center_weight = _ioniq_ev_old_sigmoid((IONIQ_EV_OLD_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_EV_OLD_CENTER_TAPER_LAT_WIDTH) reduction = IONIQ_EV_OLD_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def _ioniq_6_sigmoid(x: float) -> float: return _sigmoid(x) def _ioniq_6_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / IONIQ_6_TRANSITION_SPEED) ** 2) def _ioniq_6_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_6_PHASE_SCALE) def _ioniq_6_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _ioniq_6_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / IONIQ_6_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / IONIQ_6_FRICTION_JERK_RISE) return _ioniq_6_low_speed_factor(v_ego) * lat_factor * jerk_factor def _ioniq_6_curvy_speed_weight(v_ego: float) -> float: curvy_speed_min = _flm_vehicle_knob("hyundai_ioniq_6.curvy_speed_min", IONIQ_6_CURVY_SPEED_MIN) curvy_speed_max = _flm_vehicle_knob("hyundai_ioniq_6.curvy_speed_max", IONIQ_6_CURVY_SPEED_MAX) onset = _ioniq_6_sigmoid((max(v_ego, 0.0) - curvy_speed_min) / IONIQ_6_CURVY_SPEED_MIN_WIDTH) cutoff = _ioniq_6_sigmoid((curvy_speed_max - max(v_ego, 0.0)) / IONIQ_6_CURVY_SPEED_MAX_WIDTH) return onset * cutoff def _ioniq_6_curvy_turn_in_trim_speed_weight(v_ego: float) -> float: curvy_turn_in_speed_min = _flm_vehicle_knob("hyundai_ioniq_6.curvy_turn_in_trim_speed_min", IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN) curvy_turn_in_speed_max = _flm_vehicle_knob("hyundai_ioniq_6.curvy_turn_in_trim_speed_max", IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX) onset = _ioniq_6_sigmoid((max(v_ego, 0.0) - curvy_turn_in_speed_min) / IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH) cutoff = _ioniq_6_sigmoid((curvy_turn_in_speed_max - max(v_ego, 0.0)) / IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH) return onset * cutoff def get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float, directional_taper_scale: float | None = None) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.ff_gain_left", IONIQ_6_FF_GAIN_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.ff_gain_right", IONIQ_6_FF_GAIN_RIGHT), ) abs_lateral_accel = abs(desired_lateral_accel) onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_FF_ONSET) / IONIQ_6_FF_ONSET_WIDTH) cutoff = _ioniq_6_sigmoid((IONIQ_6_FF_CUTOFF - abs_lateral_accel) / IONIQ_6_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _ioniq_6_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.turn_in_boost_left", IONIQ_6_TURN_IN_BOOST_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.turn_in_boost_right", IONIQ_6_TURN_IN_BOOST_RIGHT), ) * turn_in_weight * low_speed_factor) unwind_taper = 1.0 - (_ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.unwind_taper_left", IONIQ_6_UNWIND_TAPER_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.unwind_taper_right", IONIQ_6_UNWIND_TAPER_RIGHT), ) * unwind_weight * (0.30 + 0.70 * low_speed_factor)) crawl_turn_in_scale = 0.0 if desired_lateral_accel * desired_lateral_jerk > 0.0: crawl_speed_weight = _ioniq_6_sigmoid((IONIQ_6_CRAWL_TURN_IN_FF_SPEED - max(v_ego, 0.0)) / IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH) crawl_lat_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_CRAWL_TURN_IN_FF_LAT) / IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH) crawl_turn_in_scale = _ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.crawl_turn_in_ff_boost_left", IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.crawl_turn_in_ff_boost_right", IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT), ) * crawl_speed_weight * crawl_lat_weight high_speed_right_turn_in_scale = 0.0 if desired_lateral_accel < 0.0 and desired_lateral_accel * desired_lateral_jerk > 0.0: high_speed_weight = _ioniq_6_sigmoid((max(v_ego, 0.0) - IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_SPEED) / IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_SPEED_WIDTH) high_speed_lat_onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_START) / IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_WIDTH) high_speed_lat_cutoff = _ioniq_6_sigmoid((IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_END - abs_lateral_accel) / IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_WIDTH) high_speed_right_turn_in_scale = IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_BOOST * high_speed_weight * high_speed_lat_onset * high_speed_lat_cutoff if directional_taper_scale is None: directional_taper_scale = get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk, v_ego) return (1.0 + crawl_turn_in_scale + high_speed_right_turn_in_scale + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))) * directional_taper_scale def get_ioniq_6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = max(get_hkg_canfd_base_friction_threshold(v_ego), IONIQ_6_BASE_FRICTION_THRESHOLD) transition_envelope = _ioniq_6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) unwind_speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_UNWIND_HIGH_SPEED_SPEED) / IONIQ_6_UNWIND_HIGH_SPEED_SPEED_WIDTH) threshold_scale = 1.0 - (_ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.turn_in_threshold_reduction_left", IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.turn_in_threshold_reduction_right", IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT), ) * transition_envelope * turn_in_weight) threshold_scale += (_ioniq_6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.unwind_threshold_increase_left", IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.unwind_threshold_increase_right", IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT), ) * transition_envelope * unwind_weight * unwind_speed_weight) return base_threshold * min(max(threshold_scale, 0.82), 1.18) def get_ioniq_6_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _ioniq_6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) unwind_speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_UNWIND_HIGH_SPEED_SPEED) / IONIQ_6_UNWIND_HIGH_SPEED_SPEED_WIDTH) friction_scale = IONIQ_6_FRICTION_MULT friction_scale += (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT, IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT, IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight * unwind_speed_weight) return min(max(friction_scale, 0.82), 1.08) def get_ioniq_6_friction_center_fade_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_FRICTION_CENTER_FADE_SPEED) / IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH) center_weight = _ioniq_6_sigmoid((IONIQ_6_FRICTION_CENTER_FADE_LAT - abs(desired_lateral_accel)) / IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH) return 1.0 - IONIQ_6_FRICTION_CENTER_FADE_MAX * speed_weight * center_weight def get_ioniq_6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_CENTER_TAPER_SPEED) / IONIQ_6_CENTER_TAPER_SPEED_WIDTH) center_weight = _ioniq_6_sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_CENTER_TAPER_LAT_WIDTH) high_speed_reduction = _flm_vehicle_knob("hyundai_ioniq_6.center_taper_max", IONIQ_6_CENTER_TAPER_MAX) * speed_weight * center_weight highway_speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED) / IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH) highway_center_weight = _ioniq_6_sigmoid((IONIQ_6_HIGHWAY_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH) highway_center_reduction = _flm_vehicle_knob("hyundai_ioniq_6.highway_center_taper_max", IONIQ_6_HIGHWAY_CENTER_TAPER_MAX) * highway_speed_weight * highway_center_weight low_mid_onset = _ioniq_6_sigmoid((v_ego - IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN) / IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH) low_mid_cutoff = _ioniq_6_sigmoid((IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX - v_ego) / IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH) low_mid_speed_weight = low_mid_onset * low_mid_cutoff low_mid_center_weight = _ioniq_6_sigmoid((IONIQ_6_LOW_MID_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH) low_mid_reduction = IONIQ_6_LOW_MID_CENTER_TAPER_MAX * low_mid_speed_weight * low_mid_center_weight return 1.0 - min(high_speed_reduction + highway_center_reduction + low_mid_reduction, 0.12) def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float | None = None) -> float: if desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_DIRECTIONAL_TAPER_LAT_START) / IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH) cutoff = _ioniq_6_sigmoid((IONIQ_6_DIRECTIONAL_TAPER_LAT_END - abs_lateral_accel) / IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH) band_weight = onset * cutoff heavy_band_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START) / IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH) phase = math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_6_DIRECTIONAL_TAPER_PHASE_SCALE) unwind_weight = max(-phase, 0.0) * _ioniq_6_sigmoid((abs(desired_lateral_jerk) - IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET) / IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH) low_speed_relief_weight = 0.0 curvy_turn_in_trim_weight = 0.0 if v_ego is not None: low_speed_weight = _ioniq_6_sigmoid((IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED - max(v_ego, 0.0)) / IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH) tight_turn_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT) / IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH) low_speed_relief_weight = IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF * low_speed_weight * tight_turn_weight * (1.0 - unwind_weight) turn_in_weight = max(phase, 0.0) curvy_turn_in_speed_weight = _ioniq_6_curvy_turn_in_trim_speed_weight(v_ego) curvy_turn_in_lat_onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_CURVY_TURN_IN_TRIM_LAT_START) / IONIQ_6_CURVY_TURN_IN_TRIM_LAT_ONSET_WIDTH) curvy_turn_in_lat_cutoff = _ioniq_6_sigmoid((IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END - abs_lateral_accel) / IONIQ_6_CURVY_TURN_IN_TRIM_LAT_CUTOFF_WIDTH) curvy_turn_in_trim_weight = curvy_turn_in_speed_weight * curvy_turn_in_lat_onset * curvy_turn_in_lat_cutoff * turn_in_weight base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT) unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT) heavy_base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT) heavy_unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT) base_reduction *= 1.0 - low_speed_relief_weight heavy_base_reduction *= 1.0 - low_speed_relief_weight reduction = band_weight * (base_reduction + unwind_reduction * unwind_weight) reduction += heavy_band_weight * (heavy_base_reduction + heavy_unwind_reduction * unwind_weight) reduction += (_ioniq_6_side_value(desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.curvy_turn_in_trim_left", IONIQ_6_CURVY_TURN_IN_TRIM_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.curvy_turn_in_trim_right", IONIQ_6_CURVY_TURN_IN_TRIM_RIGHT)) * curvy_turn_in_trim_weight) curvy_unwind_weight = 0.0 curvy_unwind_floor_relief = 0.0 if v_ego is not None: curvy_unwind_phase_weight = unwind_weight if desired_lateral_accel < 0.0: curvy_unwind_phase_weight = max(-phase, 0.0) * _ioniq_6_sigmoid( (abs(desired_lateral_jerk) - IONIQ_6_CURVY_RIGHT_UNWIND_JERK_ONSET) / IONIQ_6_CURVY_RIGHT_UNWIND_JERK_WIDTH) curvy_unwind_speed_weight = _ioniq_6_curvy_speed_weight(v_ego) curvy_unwind_lat_onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_CURVY_UNWIND_LAT_START) / IONIQ_6_CURVY_UNWIND_LAT_ONSET_WIDTH) curvy_unwind_lat_cutoff = _ioniq_6_sigmoid((IONIQ_6_CURVY_UNWIND_LAT_END - abs_lateral_accel) / IONIQ_6_CURVY_UNWIND_LAT_CUTOFF_WIDTH) curvy_unwind_weight = curvy_unwind_speed_weight * curvy_unwind_lat_onset * curvy_unwind_lat_cutoff * curvy_unwind_phase_weight curvy_unwind_floor_relief = (_ioniq_6_side_value(desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.curvy_unwind_floor_relief_left", IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.curvy_unwind_floor_relief_right", IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_RIGHT)) * curvy_unwind_weight) reduction += (_ioniq_6_side_value(desired_lateral_accel, _flm_vehicle_knob("hyundai_ioniq_6.curvy_unwind_extra_reduction_left", IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_LEFT), _flm_vehicle_knob("hyundai_ioniq_6.curvy_unwind_extra_reduction_right", IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_RIGHT)) * curvy_unwind_weight) floor = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT, IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT) floor -= _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT) * unwind_weight floor -= curvy_unwind_floor_relief return max(1.0 - reduction, floor) def get_ioniq_6_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_OUTPUT_TAPER_SPEED) / IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH) center_taper = get_ioniq_6_center_taper_scale(desired_lateral_accel, v_ego) directional_taper = get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk, v_ego) center_scale = 1.0 - ((1.0 - center_taper) * IONIQ_6_OUTPUT_CENTER_TAPER_BLEND * speed_weight) directional_scale = 1.0 - ((1.0 - directional_taper) * IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND * speed_weight) return center_scale * directional_scale def get_ioniq_6_highway_output_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED) / IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH) center_weight = _ioniq_6_sigmoid((IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH) reduction = IONIQ_6_HIGHWAY_OUTPUT_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def get_ioniq_6_highway_transition_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED) / IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH) center_weight = _ioniq_6_sigmoid((IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_LAT_WIDTH) jerk_weight = _ioniq_6_sigmoid((abs(desired_lateral_jerk) - IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_JERK) / IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_JERK_WIDTH) reduction = IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_MAX * speed_weight * center_weight * jerk_weight return 1.0 - reduction def get_ioniq_6_low_speed_angle_assist_torque(desired_angle_deg: float, actual_angle_deg: float, current_output_torque: float, v_ego: float) -> float: angle_error = desired_angle_deg - actual_angle_deg if desired_angle_deg * angle_error > 0.0: speed_weight = _ioniq_6_sigmoid((IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED - max(v_ego, 0.0)) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED_WIDTH) error_weight = _ioniq_6_sigmoid((abs(angle_error) - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH) desired_angle_weight = _ioniq_6_sigmoid((abs(desired_angle_deg) - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH) tracking_ratio = abs(actual_angle_deg) / max(abs(desired_angle_deg), 1e-3) tracking_taper = _ioniq_6_sigmoid((tracking_ratio - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH) tracking_scale = max(1.0 - tracking_taper, IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR) assist_torque = math.copysign( _flm_vehicle_knob("hyundai_ioniq_6.low_speed_angle_assist_max_torque", IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE) * speed_weight * error_weight * desired_angle_weight * tracking_scale, -angle_error, ) if abs(assist_torque) < 1e-4: return current_output_torque if current_output_torque * assist_torque >= 0.0: add_scale = float(np.interp(abs(current_output_torque), IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_BP, IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_V)) return float(np.clip(current_output_torque + (assist_torque * add_scale), -1.0, 1.0)) return float(np.clip(current_output_torque + assist_torque, -1.0, 1.0)) speed_weight = _ioniq_6_sigmoid((IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED - max(v_ego, 0.0)) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED_WIDTH) error_weight = _ioniq_6_sigmoid((abs(angle_error) - IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR_WIDTH) actual_angle_weight = _ioniq_6_sigmoid((abs(actual_angle_deg) - IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE_WIDTH) assist_torque = math.copysign(IONIQ_6_LOW_SPEED_UNWIND_ASSIST_MAX_TORQUE * speed_weight * error_weight * actual_angle_weight, -angle_error) if abs(assist_torque) < 1e-4: return current_output_torque if current_output_torque * assist_torque >= 0.0: assist_torque *= IONIQ_6_LOW_SPEED_UNWIND_ASSIST_BLEND return float(np.clip(current_output_torque + assist_torque, -1.0, 1.0)) def kia_ev6_lateral_testing_ground_active() -> bool: return testing_ground.use(KIA_EV6_LATERAL_TESTING_GROUND_ID, KIA_EV6_LATERAL_TESTING_GROUND_VARIANT) def _kia_ev6_sigmoid(x: float) -> float: return _sigmoid(x) def _kia_ev6_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / KIA_EV6_TRANSITION_SPEED) ** 2) def _kia_ev6_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / KIA_EV6_PHASE_SCALE) def _kia_ev6_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def _kia_ev6_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / KIA_EV6_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / KIA_EV6_FRICTION_JERK_RISE) return _kia_ev6_low_speed_factor(v_ego) * lat_factor * jerk_factor def get_kia_ev6_jwarm_phase_confidence(v_ego: float, desired_lateral_jerk: float) -> float: low_speed_weight = _kia_ev6_sigmoid( (KIA_EV6_JWARM_PHASE_STABILITY_SPEED - v_ego) / KIA_EV6_JWARM_PHASE_STABILITY_SPEED_WIDTH ) abrupt_transition_weight = _kia_ev6_sigmoid( (abs(desired_lateral_jerk) - KIA_EV6_JWARM_PHASE_STABILITY_JERK) / KIA_EV6_JWARM_PHASE_STABILITY_JERK_WIDTH ) return 1.0 - (KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION * low_speed_weight * abrupt_transition_weight) def get_kia_ev6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: if desired_lateral_accel == 0.0: return 1.0 gain = _kia_ev6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_kia_ev6.ff_gain_left", KIA_EV6_FF_GAIN_LEFT), _flm_vehicle_knob("hyundai_kia_ev6.ff_gain_right", KIA_EV6_FF_GAIN_RIGHT), ) abs_lateral_accel = abs(desired_lateral_accel) onset = _kia_ev6_sigmoid((abs_lateral_accel - KIA_EV6_FF_ONSET) / KIA_EV6_FF_ONSET_WIDTH) cutoff = _kia_ev6_sigmoid((KIA_EV6_FF_CUTOFF - abs_lateral_accel) / KIA_EV6_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff phase = _kia_ev6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _kia_ev6_low_speed_factor(v_ego) turn_in_boost = 1.0 + (_kia_ev6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_kia_ev6.turn_in_boost_left", KIA_EV6_TURN_IN_BOOST_LEFT), _flm_vehicle_knob("hyundai_kia_ev6.turn_in_boost_right", KIA_EV6_TURN_IN_BOOST_RIGHT), ) * turn_in_weight * (0.35 + 0.65 * low_speed_factor)) unwind_taper = 1.0 - (_kia_ev6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_kia_ev6.unwind_taper_left", KIA_EV6_UNWIND_TAPER_LEFT), _flm_vehicle_knob("hyundai_kia_ev6.unwind_taper_right", KIA_EV6_UNWIND_TAPER_RIGHT), ) * unwind_weight * (0.35 + 0.65 * low_speed_factor)) jwarm_tune = kia_ev6_lateral_testing_ground_active() jwarm_phase_confidence = get_kia_ev6_jwarm_phase_confidence(v_ego, desired_lateral_jerk) if jwarm_tune else 0.0 base_turn_in_boost = 1.0 + ((_kia_ev6_side_value( desired_lateral_accel, KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT, KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT, ) if jwarm_tune else 0.0) * jwarm_phase_confidence * turn_in_weight * onset * cutoff) base_unwind_taper_left = _flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_left", KIA_EV6_BASE_UNWIND_TAPER_LEFT) base_unwind_taper_right = _flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_right", KIA_EV6_BASE_UNWIND_TAPER_RIGHT) if jwarm_tune: base_unwind_taper_left += (KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT - base_unwind_taper_left) * jwarm_phase_confidence base_unwind_taper_right += (KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT - base_unwind_taper_right) * jwarm_phase_confidence base_unwind_taper = 1.0 - (_kia_ev6_side_value( desired_lateral_accel, base_unwind_taper_left, base_unwind_taper_right, ) * unwind_weight * onset * cutoff) return (base_unwind_taper * base_turn_in_boost) + (extra_scale * turn_in_boost * max(unwind_taper, 0.0)) def get_kia_ev6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: base_threshold = get_hkg_canfd_base_friction_threshold(v_ego) transition_envelope = _kia_ev6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _kia_ev6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) threshold_scale = 1.0 - (_kia_ev6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_kia_ev6.turn_in_threshold_reduction_left", KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT), _flm_vehicle_knob("hyundai_kia_ev6.turn_in_threshold_reduction_right", KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT), ) * transition_envelope * turn_in_weight) threshold_scale += (_kia_ev6_side_value( desired_lateral_accel, _flm_vehicle_knob("hyundai_kia_ev6.unwind_threshold_increase_left", KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT), _flm_vehicle_knob("hyundai_kia_ev6.unwind_threshold_increase_right", KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT), ) * transition_envelope * unwind_weight) return base_threshold * min(max(threshold_scale, 0.82), 1.16) def get_kia_ev6_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: transition_envelope = _kia_ev6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _kia_ev6_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) friction_scale = KIA_EV6_FRICTION_MULT friction_scale += (_kia_ev6_side_value(desired_lateral_accel, KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT, KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT) * transition_envelope * turn_in_weight) friction_scale -= (_kia_ev6_side_value(desired_lateral_accel, KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT, KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT) * transition_envelope * unwind_weight) return min(max(friction_scale, 0.90), 1.10) def get_kia_ev6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _kia_ev6_sigmoid((v_ego - KIA_EV6_CENTER_TAPER_SPEED) / KIA_EV6_CENTER_TAPER_SPEED_WIDTH) center_weight = _kia_ev6_sigmoid((KIA_EV6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_EV6_CENTER_TAPER_LAT_WIDTH) reduction = _flm_vehicle_knob("hyundai_kia_ev6.center_taper_max", KIA_EV6_CENTER_TAPER_MAX) * speed_weight * center_weight return 1.0 - reduction def get_kia_ev6_low_speed_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: speed_weight = _kia_ev6_sigmoid((KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) / KIA_EV6_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH) center_weight = _kia_ev6_sigmoid((KIA_EV6_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_EV6_LOW_SPEED_CENTER_TAPER_LAT_WIDTH) reduction = KIA_EV6_LOW_SPEED_CENTER_TAPER_MAX * speed_weight * center_weight return 1.0 - reduction def volt_plexy_lateral_testing_ground_active() -> bool: return testing_ground.use(VOLT_PLEXY_LATERAL_TESTING_GROUND_ID) def _volt_plexy_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float: return left_value if desired_lateral_accel >= 0.0 else right_value def get_volt_plexy_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float: standard_scale = get_volt_standard_ff_scale(desired_lateral_accel, desired_lateral_jerk, v_ego) extra_scale = standard_scale - 1.0 extra_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FF_EXTRA_MULT_LEFT, VOLT_PLEXY_FF_EXTRA_MULT_RIGHT) return 1.0 + (extra_scale * extra_mult) def get_volt_plexy_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float: standard_threshold = get_volt_standard_friction_threshold(v_ego, desired_lateral_accel, desired_lateral_jerk) threshold_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FRICTION_THRESHOLD_MULT_LEFT, VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT) return standard_threshold * threshold_mult def get_volt_plexy_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: standard_scale = get_volt_standard_friction_scale(v_ego, desired_lateral_accel, desired_lateral_jerk) friction_extra = standard_scale - 1.0 friction_mult = _volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FRICTION_SCALE_MULT_LEFT, VOLT_PLEXY_FRICTION_SCALE_MULT_RIGHT) return 1.0 + (friction_extra * friction_mult) def get_volt_plexy_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float: standard_scale = get_volt_standard_center_taper_scale(desired_lateral_accel, v_ego) standard_reduction = 1.0 - standard_scale return 1.0 - (standard_reduction * VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT) FLM_UNIVERSAL_PROFILE_KEY = "torque_universal" FLM_FULL_SURFACE_SUFFIX_METADATA = { "ff_gain_left": {"min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "ff_gain_right": {"min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "turn_in_boost_left": {"min": -0.10, "max": 2.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "turn_in_boost_right": {"min": -0.10, "max": 2.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "unwind_taper_left": {"min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "unwind_taper_right": {"min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "center_taper_max": {"min": 0.0, "max": 0.18, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "highway_center_taper_max": {"min": 0.0, "max": 0.18, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "center_deadband_crawl_deg": {"min": 0.0, "max": 0.30, "precision": 0.005, "deltaType": "absolute", "safeLiveTrial": True}, "center_deadband_low_deg": {"min": 0.0, "max": 0.30, "precision": 0.005, "deltaType": "absolute", "safeLiveTrial": True}, "center_deadband_mid_deg": {"min": 0.0, "max": 0.20, "precision": 0.005, "deltaType": "absolute", "safeLiveTrial": True}, "center_deadband_fast_deg": {"min": 0.0, "max": 0.12, "precision": 0.005, "deltaType": "absolute", "safeLiveTrial": True}, "center_deadband_highway_deg": {"min": 0.0, "max": 0.08, "precision": 0.005, "deltaType": "absolute", "safeLiveTrial": True}, "turn_in_threshold_reduction_left": {"min": 0.0, "max": 2.00, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "turn_in_threshold_reduction_right": {"min": 0.0, "max": 2.00, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "unwind_threshold_increase_left": {"min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "unwind_threshold_increase_right": {"min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "crawl_turn_in_ff_boost_left": {"min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "crawl_turn_in_ff_boost_right": {"min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "low_speed_angle_assist_max_torque": {"min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_speed_min": {"min": 4.0, "max": 12.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_speed_max": {"min": 14.0, "max": 25.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_turn_in_trim_speed_min": {"min": 8.0, "max": 16.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_turn_in_trim_speed_max": {"min": 14.0, "max": 25.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_turn_in_trim_left": {"min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_turn_in_trim_right": {"min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_unwind_floor_relief_left": {"min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_unwind_floor_relief_right": {"min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_unwind_extra_reduction_left": {"min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, "curvy_unwind_extra_reduction_right": {"min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True}, } FLM_FULL_SURFACE_NEUTRAL_DEFAULTS = { "ff_gain_left": 0.0, "ff_gain_right": 0.0, "turn_in_boost_left": 0.0, "turn_in_boost_right": 0.0, "unwind_taper_left": 0.0, "unwind_taper_right": 0.0, "center_taper_max": 0.0, "highway_center_taper_max": 0.0, "center_deadband_crawl_deg": 0.0, "center_deadband_low_deg": 0.0, "center_deadband_mid_deg": 0.0, "center_deadband_fast_deg": 0.0, "center_deadband_highway_deg": 0.0, "turn_in_threshold_reduction_left": 0.0, "turn_in_threshold_reduction_right": 0.0, "unwind_threshold_increase_left": 0.0, "unwind_threshold_increase_right": 0.0, "crawl_turn_in_ff_boost_left": 0.0, "crawl_turn_in_ff_boost_right": 0.0, "low_speed_angle_assist_max_torque": 0.0, "curvy_speed_min": IONIQ_6_CURVY_SPEED_MIN, "curvy_speed_max": IONIQ_6_CURVY_SPEED_MAX, "curvy_turn_in_trim_speed_min": IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN, "curvy_turn_in_trim_speed_max": IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX, "curvy_turn_in_trim_left": 0.0, "curvy_turn_in_trim_right": 0.0, "curvy_unwind_floor_relief_left": 0.0, "curvy_unwind_floor_relief_right": 0.0, "curvy_unwind_extra_reduction_left": 0.0, "curvy_unwind_extra_reduction_right": 0.0, } def _flm_profile_symbol(profile_key: str, suffix: str) -> str: return f"{profile_key}.{suffix}" def flm_profile_supports_knob(profile_key: str | None, suffix: str) -> bool: if not profile_key: return False return _flm_profile_symbol(profile_key, suffix) in FLM_SUPPORTED_VEHICLE_KNOBS def _flm_full_surface_side_value(profile_key: str, desired_lateral_accel: float, suffix: str, left_default: float = 0.0, right_default: float = 0.0) -> float: if desired_lateral_accel >= 0.0: return _flm_vehicle_knob(_flm_profile_symbol(profile_key, f"{suffix}_left"), left_default) return _flm_vehicle_knob(_flm_profile_symbol(profile_key, f"{suffix}_right"), right_default) def _flm_full_surface_low_speed_factor(v_ego: float) -> float: return 1.0 / (1.0 + (max(v_ego, 0.0) / IONIQ_6_TRANSITION_SPEED) ** 2) def _flm_full_surface_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float: return math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_6_PHASE_SCALE) def _flm_full_surface_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float: lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / IONIQ_6_FRICTION_LAT_RISE) jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / IONIQ_6_FRICTION_JERK_RISE) return _flm_full_surface_low_speed_factor(v_ego) * lat_factor * jerk_factor def _flm_full_surface_curvy_speed_weight(profile_key: str, v_ego: float) -> float: curvy_speed_min = _flm_vehicle_knob(_flm_profile_symbol(profile_key, "curvy_speed_min"), IONIQ_6_CURVY_SPEED_MIN) curvy_speed_max = _flm_vehicle_knob(_flm_profile_symbol(profile_key, "curvy_speed_max"), IONIQ_6_CURVY_SPEED_MAX) onset = _sigmoid((max(v_ego, 0.0) - curvy_speed_min) / IONIQ_6_CURVY_SPEED_MIN_WIDTH) cutoff = _sigmoid((curvy_speed_max - max(v_ego, 0.0)) / IONIQ_6_CURVY_SPEED_MAX_WIDTH) return onset * cutoff def _flm_full_surface_curvy_turn_in_trim_speed_weight(profile_key: str, v_ego: float) -> float: curvy_turn_in_speed_min = _flm_vehicle_knob(_flm_profile_symbol(profile_key, "curvy_turn_in_trim_speed_min"), IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN) curvy_turn_in_speed_max = _flm_vehicle_knob(_flm_profile_symbol(profile_key, "curvy_turn_in_trim_speed_max"), IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX) onset = _sigmoid((max(v_ego, 0.0) - curvy_turn_in_speed_min) / IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH) cutoff = _sigmoid((curvy_turn_in_speed_max - max(v_ego, 0.0)) / IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH) return onset * cutoff def get_flm_full_surface_center_taper_scale(profile_key: str | None, desired_lateral_accel: float, v_ego: float, include_base_center: bool = False) -> float: if not profile_key: return 1.0 reduction = 0.0 if include_base_center and flm_profile_supports_knob(profile_key, "center_taper_max"): speed_weight = _sigmoid((v_ego - IONIQ_6_CENTER_TAPER_SPEED) / IONIQ_6_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_CENTER_TAPER_LAT_WIDTH) reduction += _flm_vehicle_knob(_flm_profile_symbol(profile_key, "center_taper_max"), 0.0) * speed_weight * center_weight if flm_profile_supports_knob(profile_key, "highway_center_taper_max"): speed_weight = _sigmoid((v_ego - IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED) / IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH) center_weight = _sigmoid((IONIQ_6_HIGHWAY_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH) reduction += _flm_vehicle_knob(_flm_profile_symbol(profile_key, "highway_center_taper_max"), 0.0) * speed_weight * center_weight return 1.0 - min(reduction, 0.20) def get_flm_full_surface_center_deadband_deg(profile_key: str | None, v_ego: float) -> float: if not profile_key: return 0.0 suffixes = ( "center_deadband_crawl_deg", "center_deadband_low_deg", "center_deadband_mid_deg", "center_deadband_fast_deg", "center_deadband_highway_deg", ) values = [ _flm_vehicle_knob(_flm_profile_symbol(profile_key, suffix), 0.0) for suffix in suffixes ] return float(np.interp(max(v_ego, 0.0), FLM_FRICTION_SPEED_KNOTS, values)) def get_flm_full_surface_ff_scale(profile_key: str | None, desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float, include_base_ff: bool = False) -> float: if not profile_key or desired_lateral_accel == 0.0: return 1.0 abs_lateral_accel = abs(desired_lateral_accel) phase = _flm_full_surface_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) low_speed_factor = _flm_full_surface_low_speed_factor(v_ego) curvy_turn_in_speed_weight = _flm_full_surface_curvy_turn_in_trim_speed_weight(profile_key, v_ego) curvy_turn_in_lat_onset = _sigmoid((abs_lateral_accel - IONIQ_6_CURVY_TURN_IN_TRIM_LAT_START) / IONIQ_6_CURVY_TURN_IN_TRIM_LAT_ONSET_WIDTH) curvy_turn_in_lat_cutoff = _sigmoid((IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END - abs_lateral_accel) / IONIQ_6_CURVY_TURN_IN_TRIM_LAT_CUTOFF_WIDTH) curvy_turn_in_trim_weight = curvy_turn_in_speed_weight * curvy_turn_in_lat_onset * curvy_turn_in_lat_cutoff * turn_in_weight curvy_unwind_speed_weight = _flm_full_surface_curvy_speed_weight(profile_key, v_ego) curvy_unwind_lat_onset = _sigmoid((abs_lateral_accel - IONIQ_6_CURVY_UNWIND_LAT_START) / IONIQ_6_CURVY_UNWIND_LAT_ONSET_WIDTH) curvy_unwind_lat_cutoff = _sigmoid((IONIQ_6_CURVY_UNWIND_LAT_END - abs_lateral_accel) / IONIQ_6_CURVY_UNWIND_LAT_CUTOFF_WIDTH) curvy_unwind_weight = curvy_unwind_speed_weight * curvy_unwind_lat_onset * curvy_unwind_lat_cutoff * unwind_weight scale = 1.0 if include_base_ff and flm_profile_supports_knob(profile_key, "ff_gain_left"): gain = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "ff_gain") onset = _sigmoid((abs_lateral_accel - IONIQ_6_FF_ONSET) / IONIQ_6_FF_ONSET_WIDTH) cutoff = _sigmoid((IONIQ_6_FF_CUTOFF - abs_lateral_accel) / IONIQ_6_FF_CUTOFF_WIDTH) extra_scale = gain * onset * cutoff turn_in_boost = 1.0 + (_flm_full_surface_side_value(profile_key, desired_lateral_accel, "turn_in_boost") * turn_in_weight * low_speed_factor) unwind_reduction = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "unwind_taper") * unwind_weight * (0.30 + 0.70 * low_speed_factor) curvy_unwind_extra = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "curvy_unwind_extra_reduction") * curvy_unwind_weight curvy_unwind_floor_relief = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "curvy_unwind_floor_relief") * curvy_unwind_weight unwind_floor = 1.0 - (0.55 * unwind_reduction) - curvy_unwind_floor_relief unwind_scale = max(1.0 - unwind_reduction - curvy_unwind_extra, unwind_floor, 0.0) scale *= 1.0 + (extra_scale * turn_in_boost * unwind_scale) else: curvy_unwind_extra = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "curvy_unwind_extra_reduction") * curvy_unwind_weight curvy_unwind_floor_relief = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "curvy_unwind_floor_relief") * curvy_unwind_weight scale *= max(1.0 - curvy_unwind_extra - curvy_unwind_floor_relief, 0.55) if flm_profile_supports_knob(profile_key, "curvy_turn_in_trim_left"): curvy_trim = _flm_full_surface_side_value(profile_key, desired_lateral_accel, "curvy_turn_in_trim") * curvy_turn_in_trim_weight scale *= max(1.0 - curvy_trim, 0.55) if flm_profile_supports_knob(profile_key, "crawl_turn_in_ff_boost_left") and desired_lateral_accel * desired_lateral_jerk > 0.0: crawl_speed_weight = _sigmoid((IONIQ_6_CRAWL_TURN_IN_FF_SPEED - max(v_ego, 0.0)) / IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH) crawl_lat_weight = _sigmoid((abs_lateral_accel - IONIQ_6_CRAWL_TURN_IN_FF_LAT) / IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH) scale += _flm_full_surface_side_value(profile_key, desired_lateral_accel, "crawl_turn_in_ff_boost") * crawl_speed_weight * crawl_lat_weight return scale def get_flm_full_surface_friction_threshold(profile_key: str | None, base_threshold: float, v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0, include_base_threshold: bool = False) -> float: if not profile_key or not include_base_threshold: return base_threshold transition_envelope = _flm_full_surface_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk) phase = _flm_full_surface_transition_phase(desired_lateral_accel, desired_lateral_jerk) turn_in_weight = max(phase, 0.0) unwind_weight = max(-phase, 0.0) unwind_speed_weight = _sigmoid((v_ego - IONIQ_6_UNWIND_HIGH_SPEED_SPEED) / IONIQ_6_UNWIND_HIGH_SPEED_SPEED_WIDTH) threshold_scale = 1.0 threshold_scale -= (_flm_full_surface_side_value(profile_key, desired_lateral_accel, "turn_in_threshold_reduction") * transition_envelope * turn_in_weight) threshold_scale += (_flm_full_surface_side_value(profile_key, desired_lateral_accel, "unwind_threshold_increase") * transition_envelope * unwind_weight * unwind_speed_weight) return base_threshold * min(max(threshold_scale, 0.82), 1.18) def get_flm_full_surface_low_speed_angle_assist_torque(profile_key: str | None, desired_angle_deg: float, actual_angle_deg: float, current_output_torque: float, v_ego: float) -> float: if not profile_key or not flm_profile_supports_knob(profile_key, "low_speed_angle_assist_max_torque"): return current_output_torque max_torque = _flm_vehicle_knob(_flm_profile_symbol(profile_key, "low_speed_angle_assist_max_torque"), 0.0) if max_torque <= 1e-4: return current_output_torque angle_error = desired_angle_deg - actual_angle_deg if desired_angle_deg * angle_error > 0.0: speed_weight = _sigmoid((IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED - max(v_ego, 0.0)) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED_WIDTH) error_weight = _sigmoid((abs(angle_error) - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH) desired_angle_weight = _sigmoid((abs(desired_angle_deg) - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH) tracking_ratio = abs(actual_angle_deg) / max(abs(desired_angle_deg), 1e-3) tracking_taper = _sigmoid((tracking_ratio - IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START) / IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH) tracking_scale = max(1.0 - tracking_taper, IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR) assist_torque = math.copysign(max_torque * speed_weight * error_weight * desired_angle_weight * tracking_scale, -angle_error) if abs(assist_torque) < 1e-4: return current_output_torque if current_output_torque * assist_torque >= 0.0: add_scale = float(np.interp(abs(current_output_torque), IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_BP, IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ADD_V)) return float(np.clip(current_output_torque + (assist_torque * add_scale), -1.0, 1.0)) return float(np.clip(current_output_torque + assist_torque, -1.0, 1.0)) speed_weight = _sigmoid((IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED - max(v_ego, 0.0)) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED_WIDTH) error_weight = _sigmoid((abs(angle_error) - IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR_WIDTH) actual_angle_weight = _sigmoid((abs(actual_angle_deg) - IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE) / IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE_WIDTH) assist_torque = math.copysign(IONIQ_6_LOW_SPEED_UNWIND_ASSIST_MAX_TORQUE * speed_weight * error_weight * actual_angle_weight, -angle_error) if abs(assist_torque) < 1e-4: return current_output_torque if current_output_torque * assist_torque >= 0.0: assist_torque *= IONIQ_6_LOW_SPEED_UNWIND_ASSIST_BLEND return float(np.clip(current_output_torque + assist_torque, -1.0, 1.0)) FLM_RICH_PROFILE_CARS = { "gm_bolt_2022_2023": set(BOLT_2022_2023_CARS), "hyundai_ioniq_6": set(IONIQ_6_CARS), "hyundai_kia_ev6": set(KIA_EV6_CARS), "toyota_prius": set(PRIUS_CARS), "toyota_camry": set(CAMRY_CARS), } FLM_RICH_PROFILE_LABELS = { "gm_bolt_2022_2023": "Bolt 2022-2023", "hyundai_ioniq_6": "Ioniq 6", "hyundai_kia_ev6": "EV6", "toyota_prius": "Prius", "toyota_camry": "Camry", FLM_UNIVERSAL_PROFILE_KEY: "Torque Controller", } FLM_SUPPORTED_VEHICLE_KNOBS = { "gm_bolt_2022_2023.ff_gain_left": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_FF_GAIN_LEFT}, "gm_bolt_2022_2023.ff_gain_right": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_FF_GAIN_RIGHT}, "gm_bolt_2022_2023.turn_in_boost_left": {"profile": "gm_bolt_2022_2023", "min": -0.10, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_TURN_IN_BOOST_LEFT}, "gm_bolt_2022_2023.turn_in_boost_right": {"profile": "gm_bolt_2022_2023", "min": -0.10, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_TURN_IN_BOOST_RIGHT}, "gm_bolt_2022_2023.unwind_taper_left": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_UNWIND_TAPER_LEFT}, "gm_bolt_2022_2023.unwind_taper_right": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_UNWIND_TAPER_RIGHT}, "gm_bolt_2022_2023.center_taper_max": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.25, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_CENTER_TAPER_MAX}, "gm_bolt_2022_2023.turn_in_threshold_reduction_left": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT}, "gm_bolt_2022_2023.turn_in_threshold_reduction_right": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT}, "gm_bolt_2022_2023.unwind_threshold_increase_left": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT}, "gm_bolt_2022_2023.unwind_threshold_increase_right": {"profile": "gm_bolt_2022_2023", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT}, "hyundai_ioniq_6.ff_gain_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_FF_GAIN_LEFT}, "hyundai_ioniq_6.ff_gain_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_FF_GAIN_RIGHT}, "hyundai_ioniq_6.turn_in_boost_left": {"profile": "hyundai_ioniq_6", "min": 0.40, "max": 2.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_TURN_IN_BOOST_LEFT}, "hyundai_ioniq_6.turn_in_boost_right": {"profile": "hyundai_ioniq_6", "min": 0.40, "max": 2.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_TURN_IN_BOOST_RIGHT}, "hyundai_ioniq_6.unwind_taper_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_UNWIND_TAPER_LEFT}, "hyundai_ioniq_6.unwind_taper_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_UNWIND_TAPER_RIGHT}, "hyundai_ioniq_6.center_taper_max": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.18, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CENTER_TAPER_MAX}, "hyundai_ioniq_6.highway_center_taper_max": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.18, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_HIGHWAY_CENTER_TAPER_MAX}, "hyundai_ioniq_6.turn_in_threshold_reduction_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 2.00, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT}, "hyundai_ioniq_6.turn_in_threshold_reduction_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 2.00, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT}, "hyundai_ioniq_6.unwind_threshold_increase_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT}, "hyundai_ioniq_6.unwind_threshold_increase_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 12.0, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT}, "hyundai_ioniq_6.crawl_turn_in_ff_boost_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT}, "hyundai_ioniq_6.crawl_turn_in_ff_boost_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT}, "hyundai_ioniq_6.low_speed_angle_assist_max_torque": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE}, "hyundai_ioniq_6.curvy_speed_min": {"profile": "hyundai_ioniq_6", "min": 4.0, "max": 12.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_SPEED_MIN}, "hyundai_ioniq_6.curvy_speed_max": {"profile": "hyundai_ioniq_6", "min": 14.0, "max": 25.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_SPEED_MAX}, "hyundai_ioniq_6.curvy_turn_in_trim_speed_min": {"profile": "hyundai_ioniq_6", "min": 8.0, "max": 16.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN}, "hyundai_ioniq_6.curvy_turn_in_trim_speed_max": {"profile": "hyundai_ioniq_6", "min": 14.0, "max": 25.0, "precision": 0.1, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX}, "hyundai_ioniq_6.curvy_turn_in_trim_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_TURN_IN_TRIM_LEFT}, "hyundai_ioniq_6.curvy_turn_in_trim_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_TURN_IN_TRIM_RIGHT}, "hyundai_ioniq_6.curvy_unwind_floor_relief_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_LEFT}, "hyundai_ioniq_6.curvy_unwind_floor_relief_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_RIGHT}, "hyundai_ioniq_6.curvy_unwind_extra_reduction_left": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_LEFT}, "hyundai_ioniq_6.curvy_unwind_extra_reduction_right": {"profile": "hyundai_ioniq_6", "min": 0.0, "max": 0.45, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_RIGHT}, "hyundai_kia_ev6.ff_gain_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_FF_GAIN_LEFT}, "hyundai_kia_ev6.ff_gain_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_FF_GAIN_RIGHT}, "hyundai_kia_ev6.turn_in_boost_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_TURN_IN_BOOST_LEFT}, "hyundai_kia_ev6.turn_in_boost_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_TURN_IN_BOOST_RIGHT}, "hyundai_kia_ev6.unwind_taper_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_UNWIND_TAPER_LEFT}, "hyundai_kia_ev6.unwind_taper_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_UNWIND_TAPER_RIGHT}, "hyundai_kia_ev6.base_unwind_taper_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_BASE_UNWIND_TAPER_LEFT}, "hyundai_kia_ev6.base_unwind_taper_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_BASE_UNWIND_TAPER_RIGHT}, "hyundai_kia_ev6.center_taper_max": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_CENTER_TAPER_MAX}, "hyundai_kia_ev6.turn_in_threshold_reduction_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT}, "hyundai_kia_ev6.turn_in_threshold_reduction_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.40, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT}, "hyundai_kia_ev6.unwind_threshold_increase_left": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT}, "hyundai_kia_ev6.unwind_threshold_increase_right": {"profile": "hyundai_kia_ev6", "min": 0.0, "max": 0.80, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT}, "toyota_prius.ff_gain_left": {"profile": "toyota_prius", "min": 0.0, "max": 0.25, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_FF_GAIN_LEFT}, "toyota_prius.ff_gain_right": {"profile": "toyota_prius", "min": 0.0, "max": 0.25, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_FF_GAIN_RIGHT}, "toyota_prius.turn_in_boost_left": {"profile": "toyota_prius", "min": -0.10, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_TURN_IN_BOOST_LEFT}, "toyota_prius.turn_in_boost_right": {"profile": "toyota_prius", "min": -0.10, "max": 0.60, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_TURN_IN_BOOST_RIGHT}, "toyota_prius.unwind_taper_left": {"profile": "toyota_prius", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_TAPER_LEFT}, "toyota_prius.unwind_taper_right": {"profile": "toyota_prius", "min": 0.0, "max": 1.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_TAPER_RIGHT}, "toyota_prius.center_taper_max": {"profile": "toyota_prius", "min": 0.0, "max": 0.25, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_CENTER_TAPER_MAX}, "toyota_prius.turn_in_threshold_reduction_left": {"profile": "toyota_prius", "min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT}, "toyota_prius.turn_in_threshold_reduction_right": {"profile": "toyota_prius", "min": 0.0, "max": 0.50, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT}, "toyota_prius.unwind_threshold_increase_left": {"profile": "toyota_prius", "min": 0.0, "max": 0.90, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT}, "toyota_prius.unwind_threshold_increase_right": {"profile": "toyota_prius", "min": 0.0, "max": 0.90, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT}, "toyota_prius.center_friction_threshold_gain": {"profile": "toyota_prius", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_CENTER_FRICTION_THRESHOLD_GAIN}, "toyota_camry.center_friction_threshold_gain": {"profile": "toyota_camry", "min": 0.0, "max": 0.15, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": CAMRY_CENTER_FRICTION_THRESHOLD_GAIN}, } def _add_flm_full_surface_profile_knobs(profile_key: str, defaults: dict[str, float] | None = None) -> None: knob_defaults = dict(FLM_FULL_SURFACE_NEUTRAL_DEFAULTS) if defaults: knob_defaults.update(defaults) for suffix, meta in FLM_FULL_SURFACE_SUFFIX_METADATA.items(): symbol = _flm_profile_symbol(profile_key, suffix) if symbol in FLM_SUPPORTED_VEHICLE_KNOBS: continue minimum = -0.40 if profile_key == FLM_UNIVERSAL_PROFILE_KEY and suffix in ("ff_gain_left", "ff_gain_right") else meta["min"] FLM_SUPPORTED_VEHICLE_KNOBS[symbol] = { "profile": profile_key, "min": minimum, "max": meta["max"], "precision": meta["precision"], "deltaType": meta["deltaType"], "safeLiveTrial": meta["safeLiveTrial"], "defaultValue": knob_defaults[suffix], } for _flm_profile_key in ("gm_bolt_2022_2023", "hyundai_ioniq_6", "hyundai_kia_ev6", "toyota_prius", "toyota_camry", FLM_UNIVERSAL_PROFILE_KEY): _add_flm_full_surface_profile_knobs(_flm_profile_key) def get_flm_supported_vehicle_knobs() -> dict: return _flm_copy_json(FLM_SUPPORTED_VEHICLE_KNOBS) def get_flm_rich_profile_key(car_fingerprint) -> str | None: for profile_key, cars in FLM_RICH_PROFILE_CARS.items(): if car_fingerprint in cars: return profile_key return None def get_flm_surface_profile_key(car_fingerprint, torque_control: bool = True) -> str | None: profile_key = get_flm_rich_profile_key(car_fingerprint) if profile_key is not None or not torque_control: return profile_key return FLM_UNIVERSAL_PROFILE_KEY def get_flm_capabilities(car_fingerprint, brand: str = "", hyundai_canfd: bool = False, torque_control: bool = True) -> dict: profile_key = get_flm_surface_profile_key(car_fingerprint, torque_control=torque_control) if hyundai_canfd: friction_family = "hkg_canfd" elif brand == "gm": friction_family = "gm" else: friction_family = "standard" dedicated_friction = car_fingerprint in ( set(BOLT_2022_2023_CARS) | set(BOLT_2018_2021_CARS) | set(VOLT_STANDARD_CARS) | set(PALISADE_CARS) | set(PRIUS_CARS) | set(RAV4_PRIME_CARS) | set(SIENNA_4TH_GEN_CARS) | set(IONIQ_5_CARS) | set(IONIQ_6_CARS) | set(KIA_EV6_CARS) | set(KIA_FORTE_CARS) | set(KIA_NIRO_PHEV_2022_CARS) | set(KIA_CARNIVAL_CARS) | set(GENESIS_G90_CARS) | set(CAMRY_CARS) ) dedicated_center_taper = car_fingerprint in ( set(PRIUS_CARS) | set(SIENNA_4TH_GEN_CARS) | set(BOLT_CARS) | set(VOLT_STANDARD_CARS) | set(IONIQ_5_CARS) | set(IONIQ_EV_OLD_CARS) | set(IONIQ_6_CARS) | set(SONATA_CARS) | set(SONATA_HYBRID_CARS) | set(KIA_XCEED_CARS) | set(KIA_NIRO_PHEV_2022_CARS) | set(KIA_FORTE_CARS) | set(KIA_EV6_CARS) | set(KIA_CARNIVAL_CARS) | set(TUCSON_4TH_GEN_CARS) | set(SILVERADO_CARS) ) rich_knobs = [name for name, meta in FLM_SUPPORTED_VEHICLE_KNOBS.items() if meta["profile"] == profile_key] return { "torqueControl": bool(torque_control), "frictionFamily": friction_family, "hasDedicatedFrictionThreshold": bool(dedicated_friction), "hasDedicatedCenterTaper": bool(dedicated_center_taper), "richProfileKey": profile_key, "richProfileLabel": FLM_RICH_PROFILE_LABELS.get(profile_key), "richKnobs": rich_knobs, } __all__ = [name for name in globals() if not name.startswith("_") and name not in { "math", "np", "GM_CAR", "HYUNDAI_CAR", "TOYOTA_CAR", "CV", "testing_ground", }]