mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
79c8945a41
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>
9 lines
736 B
Markdown
9 lines
736 B
Markdown
# Lateral controller regression vectors
|
|
|
|
These source-derived vectors are inputs to `test_ioniq6_policy.py`.
|
|
|
|
- `ioniq6_frozen_2023.json` and `ioniq6_frozen_2025.json` cover 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. Their `helpers` entries cover the corresponding shaping functions.
|
|
- `non_ioniq_parent.json` checks 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.
|