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firestar5683 a71d1f3e48 Torque and lateral controllers

Integrate torque feedback, lane-change smoothing and low-speed Turn Assist through dedicated lateral owners.

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ioniq6_frozen_2023.json

Torque and lateral controllers

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ioniq6_frozen_2025.json

Torque and lateral controllers

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non_ioniq_parent.json

Torque and lateral controllers

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README.md

Torque and lateral controllers

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README.md

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.