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Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners. Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: pharmacomaniac <blittle65@gmail.com>
736 B
736 B
Lateral controller regression vectors
These source-derived vectors are inputs to test_ioniq6_policy.py.
ioniq6_frozen_2023.jsonandioniq6_frozen_2025.jsoncover the two Ioniq 6 controller variants through stop, crawl, pull-away, highway, steering override, and restart. They include controller output, requested lateral acceleration and jerk, PID terms, and feedforward. Theirhelpersentries cover the corresponding shaping functions.non_ioniq_parent.jsonchecks that Corolla TSS2 and Ioniq 5 controller output remains unchanged by the Ioniq-specific policy.
The tests use matching vehicle parameters for each comparison. These vectors check software behavior; they do not establish physical steering performance.