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StarPilot/selfdrive/controls/lib/latcontrol_torque.py
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firestar5683 c91ac533ef is it hi-yun-dae?
2026-06-21 22:19:04 -05:00

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import math
import numpy as np
from collections import deque
from cereal import log
from opendbc.car.gm.values import CAR as GM_CAR
from opendbc.car.honda.values import CAR as HONDA_CAR, HondaFlags
from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
from opendbc.car.toyota.values import CAR as TOYOTA_CAR
from opendbc.car.lateral import get_friction
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY, CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.pid import PIDController
from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.starpilot.common.testing_grounds import testing_ground
# At higher speeds (25+mph) we can assume:
# Lateral acceleration achieved by a specific car correlates to
# torque applied to the steering rack. It does not correlate to
# wheel slip, or to speed.
# This controller applies torque to achieve desired lateral
# accelerations. To compensate for the low speed effects the
# proportional gain is increased at low speeds by the PID controller.
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
KP = 0.6
KI = 0.35
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [12, 10.5, 8, 5]
MAX_LAT_JERK_UP = 2.5 # m/s^3
LP_FILTER_CUTOFF_HZ = 1.2
JERK_LOOKAHEAD_SECONDS = 0.19
JERK_GAIN = 0.22
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 2
DEBUG_TORQUE_TUNE = False
FF_SCALE_BLEND_LAT_ACCEL = 0.05
DEADZONE_BOOST_LAT_ACCEL = 0.15
UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
MIN_LATERAL_CONTROL_SPEED = 0.3
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
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_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,
)
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_XCEED_CARS = (
HYUNDAI_CAR.KIA_XCEED_PHEV,
)
KIA_NIRO_PHEV_2022_CARS = (
HYUNDAI_CAR.KIA_NIRO_PHEV_2022,
)
KIA_FORTE_CARS = (
HYUNDAI_CAR.KIA_FORTE,
HYUNDAI_CAR.KIA_FORTE_2019_NON_SCC,
HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC,
)
PRIUS_CARS = (
TOYOTA_CAR.TOYOTA_PRIUS,
)
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_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_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 = 0.12
IONIQ_5_FF_REDUCTION_RIGHT = 0.22
IONIQ_5_TURN_IN_BOOST_LEFT = 0.14
IONIQ_5_TURN_IN_BOOST_RIGHT = 0.06
IONIQ_5_UNWIND_TAPER_LEFT = 0.76
IONIQ_5_UNWIND_TAPER_RIGHT = 0.86
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.05
IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.34
IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
IONIQ_5_CENTER_TAPER_MAX = 0.14
IONIQ_5_CENTER_TAPER_LAT = 0.12
IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_5_CENTER_TAPER_SPEED = 16.0
IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
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 = 0.36
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 = 0.038
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.09
IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.03
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
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 = 2.15
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 4.25
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.16
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.60
IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.14
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_CRAWL_TURN_IN_FF_BOOST_LEFT = 0.14
IONIQ_6_CRAWL_TURN_IN_FF_BOOST_RIGHT = 0.19
IONIQ_6_CRAWL_TURN_IN_FF_SPEED = 5.0
IONIQ_6_CRAWL_TURN_IN_FF_SPEED_WIDTH = 0.9
IONIQ_6_CRAWL_TURN_IN_FF_LAT = 0.08
IONIQ_6_CRAWL_TURN_IN_FF_LAT_WIDTH = 0.045
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_MAX_TORQUE = 0.42
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED = 2.95
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_SPEED_WIDTH = 0.35
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR = 2.4
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_ERROR_WIDTH = 1.35
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE = 6.5
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_DESIRED_ANGLE_WIDTH = 2.6
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_START = 0.58
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_WIDTH = 0.14
IONIQ_6_LOW_SPEED_ANGLE_ASSIST_TRACK_RATIO_FLOOR = 0.18
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, 0.82, 0.0]
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_MAX_TORQUE = 0.26
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED = 3.05
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_SPEED_WIDTH = 0.35
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR = 1.8
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ERROR_WIDTH = 1.0
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE = 12.0
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_ACTUAL_ANGLE_WIDTH = 5.0
IONIQ_6_LOW_SPEED_UNWIND_ASSIST_BLEND = 0.45
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_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS
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 = 0.06
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.17
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.78
IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.10
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 = 0.08
KIA_EV6_FF_GAIN_RIGHT = 0.12
KIA_EV6_FF_ONSET = 0.08
KIA_EV6_FF_ONSET_WIDTH = 0.04
KIA_EV6_FF_CUTOFF = 0.82
KIA_EV6_FF_CUTOFF_WIDTH = 0.18
KIA_EV6_TRANSITION_SPEED = 11.0
KIA_EV6_PHASE_SCALE = 0.09
KIA_EV6_TURN_IN_BOOST_LEFT = 0.22
KIA_EV6_TURN_IN_BOOST_RIGHT = 0.34
KIA_EV6_UNWIND_TAPER_LEFT = 0.48
KIA_EV6_UNWIND_TAPER_RIGHT = 0.46
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 = 0.10
KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.24
KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.04
KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
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 = 0.24
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_GAIN_LEFT = 0.12
VOLT_PLEXY_FF_GAIN_RIGHT = 0.07
VOLT_PLEXY_FF_ONSET = 0.10
VOLT_PLEXY_FF_ONSET_WIDTH = 0.06
VOLT_PLEXY_FF_CUTOFF = 1.35
VOLT_PLEXY_FF_CUTOFF_WIDTH = 0.24
VOLT_PLEXY_TRANSITION_SPEED = 10.5
VOLT_PLEXY_PHASE_SCALE = 0.10
VOLT_PLEXY_TURN_IN_BOOST_LEFT = 0.22
VOLT_PLEXY_TURN_IN_BOOST_RIGHT = 0.24
VOLT_PLEXY_UNWIND_TAPER_LEFT = 0.22
VOLT_PLEXY_UNWIND_TAPER_RIGHT = 0.56
VOLT_PLEXY_FRICTION_MULT = 1.04
VOLT_PLEXY_FRICTION_LAT_RISE = 0.22
VOLT_PLEXY_FRICTION_JERK_RISE = 0.24
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.34
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT = 0.08
VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40
PRIUS_TRANSITION_SPEED = 10.0
PRIUS_PHASE_SCALE = 0.09
PRIUS_FF_GAIN_LEFT = 0.12
PRIUS_FF_GAIN_RIGHT = 0.13
PRIUS_FF_ONSET = 0.12
PRIUS_FF_ONSET_WIDTH = 0.07
PRIUS_FF_CUTOFF = 1.45
PRIUS_FF_CUTOFF_WIDTH = 0.36
PRIUS_FRICTION_LAT_RISE = 0.18
PRIUS_FRICTION_JERK_RISE = 0.22
PRIUS_TURN_IN_BOOST_LEFT = 0.60
PRIUS_TURN_IN_BOOST_RIGHT = 0.56
PRIUS_UNWIND_TAPER_LEFT = 0.58
PRIUS_UNWIND_TAPER_RIGHT = 0.84
PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.22
PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22
PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.52
PRIUS_TURN_IN_FRICTION_BOOST_LEFT = 0.10
PRIUS_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
PRIUS_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT = 0.32
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
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 get_friction_threshold(v_ego: float) -> float:
# Keep the speed-scaled friction threshold behavior.
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 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, PRIUS_FF_GAIN_LEFT, 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, PRIUS_TURN_IN_BOOST_LEFT, 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, PRIUS_UNWIND_TAPER_LEFT, 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_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, PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT, PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_prius_side_value(desired_lateral_accel, PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT, PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT) *
transition_envelope * unwind_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 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_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, BOLT_2022_2023_FF_GAIN_LEFT, 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 - (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, BOLT_2022_2023_TURN_IN_BOOST_LEFT, 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, BOLT_2022_2023_UNWIND_TAPER_LEFT, 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_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
base_threshold = get_friction_threshold(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)
threshold_scale = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT, 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_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_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_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_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_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_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 _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)
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))
return (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_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 get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
if desired_lateral_accel == 0.0:
return 1.0
gain = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_FF_GAIN_LEFT, 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, IONIQ_6_TURN_IN_BOOST_LEFT, IONIQ_6_TURN_IN_BOOST_RIGHT) *
turn_in_weight * low_speed_factor)
unwind_taper = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_TAPER_LEFT, 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, IONIQ_6_CRAWL_TURN_IN_FF_BOOST_LEFT,
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
return (1.0 + crawl_turn_in_scale + high_speed_right_turn_in_scale +
(extra_scale * turn_in_boost * max(unwind_taper, 0.0))) * get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk, v_ego)
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_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)
threshold_scale = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT, IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT, IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT) *
transition_envelope * unwind_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)
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)
return min(max(friction_scale, 0.82), 1.08)
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 = 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 = 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 = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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
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)
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)
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
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_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(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_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, KIA_EV6_FF_GAIN_LEFT, 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, KIA_EV6_TURN_IN_BOOST_LEFT, 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, KIA_EV6_UNWIND_TAPER_LEFT, KIA_EV6_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_kia_ev6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
base_threshold = get_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, KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT, KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_kia_ev6_side_value(desired_lateral_accel, KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT, 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 = 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_sigmoid(x: float) -> float:
return _sigmoid(x)
def _volt_plexy_low_speed_factor(v_ego: float) -> float:
return 1.0 / (1.0 + (max(v_ego, 0.0) / VOLT_PLEXY_TRANSITION_SPEED) ** 2)
def _volt_plexy_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
return math.tanh((desired_lateral_accel * desired_lateral_jerk) / VOLT_PLEXY_PHASE_SCALE)
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 _volt_plexy_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_PLEXY_FRICTION_LAT_RISE)
jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / VOLT_PLEXY_FRICTION_JERK_RISE)
return _volt_plexy_low_speed_factor(v_ego) * lat_factor * jerk_factor
def get_volt_plexy_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_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_FF_GAIN_LEFT, VOLT_PLEXY_FF_GAIN_RIGHT)
abs_lateral_accel = abs(desired_lateral_accel)
onset = _volt_plexy_sigmoid((abs_lateral_accel - VOLT_PLEXY_FF_ONSET) / VOLT_PLEXY_FF_ONSET_WIDTH)
cutoff = _volt_plexy_sigmoid((VOLT_PLEXY_FF_CUTOFF - abs_lateral_accel) / VOLT_PLEXY_FF_CUTOFF_WIDTH)
extra_scale = gain * onset * cutoff
phase = _volt_plexy_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_plexy_low_speed_factor(v_ego)
turn_in_boost = 1.0 + (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_BOOST_LEFT, VOLT_PLEXY_TURN_IN_BOOST_RIGHT) *
turn_in_weight * low_speed_factor)
unwind_taper = 1.0 - (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_TAPER_LEFT, VOLT_PLEXY_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_volt_plexy_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
base_threshold = get_friction_threshold(v_ego)
transition_envelope = _volt_plexy_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
phase = _volt_plexy_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_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_LEFT, VOLT_PLEXY_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
transition_envelope * turn_in_weight)
threshold_scale += (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_LEFT, VOLT_PLEXY_UNWIND_THRESHOLD_INCREASE_RIGHT) *
transition_envelope * unwind_weight)
return base_threshold * min(max(threshold_scale, 0.84), 1.14)
def get_volt_plexy_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
transition_envelope = _volt_plexy_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
phase = _volt_plexy_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
unwind_weight = max(-phase, 0.0)
friction_scale = VOLT_PLEXY_FRICTION_MULT
friction_scale += (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_TURN_IN_FRICTION_BOOST_LEFT, VOLT_PLEXY_TURN_IN_FRICTION_BOOST_RIGHT) *
transition_envelope * turn_in_weight)
friction_scale -= (_volt_plexy_side_value(desired_lateral_accel, VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_LEFT, VOLT_PLEXY_UNWIND_FRICTION_REDUCTION_RIGHT) *
transition_envelope * unwind_weight)
return min(max(friction_scale, 0.90), 1.12)
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.torque_params = CP.lateralTuning.torque.as_builder()
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
self.steer_release_i_decay = 0.8
self.prev_steering_pressed = False
self.debug_counter = 0
self.prev_desired_lateral_accel = 0.0
self.is_bolt = CP.carFingerprint in BOLT_CARS
self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
self.is_bolt_2018_2021 = CP.carFingerprint in BOLT_2018_2021_CARS
self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
self.is_volt_standard = CP.carFingerprint in VOLT_STANDARD_CARS
self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
self.is_palisade = CP.carFingerprint in PALISADE_CARS
self.is_prius = CP.carFingerprint in PRIUS_CARS
self.is_ioniq_5 = CP.carFingerprint in IONIQ_5_CARS
self.is_ioniq_ev_old = CP.carFingerprint in IONIQ_EV_OLD_CARS
self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
self.is_sonata = CP.carFingerprint in SONATA_CARS
self.is_sonata_hybrid = CP.carFingerprint in SONATA_HYBRID_CARS
self.is_elantra_non_scc = CP.carFingerprint in ELANTRA_NON_SCC_CARS
self.is_kia_xceed = CP.carFingerprint in KIA_XCEED_CARS
self.is_kia_niro_phev_2022 = CP.carFingerprint in KIA_NIRO_PHEV_2022_CARS
self.is_kia_forte = CP.carFingerprint in KIA_FORTE_CARS
self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
self.is_civic_bosch_modified = CP.carFingerprint == HONDA_CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
self.is_volt_cc = CP.carFingerprint == GM_CAR.CHEVROLET_VOLT_CC
self.is_silverado = CP.carFingerprint in SILVERADO_CARS
if self.is_ioniq_6:
self.low_speed_reset_threshold = min(self.low_speed_reset_threshold, IONIQ_6_LOW_SPEED_PID_RESET_SPEED)
self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2018_2021 or self.is_bolt_2017
self.use_bolt_ki_multiplier = self.use_bolt_ff_scaling
self.torque_ff_scale_pos = 1.0
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
self.torque_ki_mult = 1.0
if self.is_palisade:
self.torque_params.latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_5:
self.torque_params.latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_ev_old:
self.torque_params.latAccelFactor *= IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_6:
self.torque_params.latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_sonata_hybrid:
self.torque_params.latAccelFactor *= SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_kia_forte:
self.torque_params.latAccelFactor *= KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified:
self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_a_lateral_testing_ground_active():
self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_lateral_testing_ground_active():
self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT
if self.is_bolt:
kp_scale = getattr(self.torque_params, "kp", getattr(self.torque_params, "kpDEPRECATED", 1.0))
ki_scale = getattr(self.torque_params, "ki", getattr(self.torque_params, "kiDEPRECATED", 1.0))
kd_scale = getattr(self.torque_params, "kd", getattr(self.torque_params, "kdDEPRECATED", 1.0))
self.torque_ff_scale_pos = float(kp_scale)
self.torque_ff_scale_neg = float(ki_scale)
self.torque_ki_mult = float(kd_scale)
if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
if self.is_palisade:
latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_5:
latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_ev_old:
latAccelFactor *= IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_6:
latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_sonata_hybrid:
latAccelFactor *= SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_kia_forte:
latAccelFactor *= KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified:
latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_a_lateral_testing_ground_active():
latAccelFactor *= CIVIC_BOSCH_MODIFIED_A_VARIANT_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_lateral_testing_ground_active():
latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_VARIANT_LAT_ACCEL_FACTOR_MULT
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
self.update_limits()
def update_limits(self):
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
pid_log = log.ControlsState.LateralTorqueState.new_message()
pid_log.version = VERSION
if not active:
output_torque = 0.0
pid_log.active = False
self.pid.reset()
self.previous_measurement = 0.0
self.measurement_rate_filter.x = 0.0
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
self.prev_desired_lateral_accel = 0.0
else:
if self.prev_steering_pressed and not CS.steeringPressed:
self.pid.i *= self.steer_release_i_decay
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
raw_lateral_jerk = np.clip(raw_lateral_jerk, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
self.prev_desired_lateral_accel = setpoint
measurement = measured_curvature * CS.vEgo ** 2
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
self.previous_measurement = measurement
low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
current_kp = np.interp(CS.vEgo, self.pid._k_p[0], self.pid._k_p[1])
error = setpoint - measurement
error_with_lsf = error * (1 + low_speed_factor / max(current_kp, 1e-3))
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error_with_lsf)
ff = gravity_adjusted_future_lateral_accel
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
ff_scale = 1.0
if self.use_bolt_ff_scaling:
ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
[self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
ff *= ff_scale
trailer_load_kg = float(max(getattr(starpilot_toggles, "trailer_load_kg", 0.0) or 0.0, 0.0))
bolt_2022_2023_tuned_path_active = self.is_bolt_2022_2023
bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
palisade_active = self.is_palisade
prius_active = self.is_prius
ioniq_5_active = self.is_ioniq_5
ioniq_ev_old_active = self.is_ioniq_ev_old
ioniq_6_active = self.is_ioniq_6
sonata_active = self.is_sonata
sonata_hybrid_active = self.is_sonata_hybrid
elantra_non_scc_active = self.is_elantra_non_scc
kia_xceed_active = self.is_kia_xceed
kia_niro_phev_2022_active = self.is_kia_niro_phev_2022
kia_forte_active = self.is_kia_forte
kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
ioniq_5_center_taper = get_ioniq_5_center_taper_scale(setpoint, CS.vEgo) if ioniq_5_active else 1.0
volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
ioniq_ev_old_center_taper = get_ioniq_ev_old_center_taper_scale(setpoint, CS.vEgo) if ioniq_ev_old_active else 1.0
ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
sonata_center_taper = get_sonata_center_taper_scale(setpoint, CS.vEgo) if sonata_active else 1.0
sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
kia_xceed_center_taper = get_kia_xceed_center_taper_scale(setpoint, CS.vEgo) if kia_xceed_active else 1.0
kia_niro_phev_2022_center_taper = get_kia_niro_phev_2022_center_taper_scale(setpoint, CS.vEgo) if kia_niro_phev_2022_active else 1.0
kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
kia_ev6_low_speed_center_taper = get_kia_ev6_low_speed_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
silverado_center_taper = get_silverado_center_taper_scale(setpoint, CS.vEgo) if self.is_silverado else 1.0
civic_bosch_modified_a_center_taper = get_civic_bosch_modified_a_center_taper_scale(setpoint, CS.vEgo) if (
self.is_civic_bosch_modified and civic_bosch_modified_a_lateral_testing_ground_active()
) else 1.0
friction_threshold = get_friction_threshold(CS.vEgo)
friction_scale = 1.0
if bolt_2022_2023_tuned_path_active:
ff *= get_bolt_2022_2023_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_bolt_2022_2023_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_bolt_2022_2023_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif bolt_2018_2021_tuned_path_active:
friction_threshold = get_bolt_2018_2021_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_bolt_2018_2021_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif volt_standard_test_active:
ff *= get_volt_standard_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * volt_standard_center_taper
friction_threshold = get_volt_standard_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_volt_standard_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * volt_standard_center_taper)
elif genesis_g90_test_active:
ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif palisade_active:
ff *= get_palisade_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_palisade_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_palisade_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif prius_active:
ff *= get_prius_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_prius_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_prius_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif ioniq_5_active:
ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_5_center_taper
friction_threshold = get_ioniq_5_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_ioniq_5_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_5_center_taper)
elif ioniq_ev_old_active:
ff *= get_ioniq_ev_old_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_ev_old_center_taper
friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_ev_old_center_taper)
elif ioniq_6_active:
ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_6_center_taper
friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
elif sonata_active:
ff *= get_sonata_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_center_taper
elif sonata_hybrid_active:
ff *= get_sonata_hybrid_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_hybrid_center_taper
elif elantra_non_scc_active:
ff *= get_elantra_non_scc_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif kia_xceed_active:
ff *= get_kia_xceed_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_xceed_center_taper
elif kia_niro_phev_2022_active:
friction_threshold = get_kia_niro_phev_2022_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
elif kia_forte_active:
ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
friction_threshold = get_kia_forte_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
elif kia_ev6_test_active:
ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_ev6_center_taper
friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_kia_ev6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * kia_ev6_center_taper)
elif self.is_silverado:
ff *= silverado_center_taper
elif volt_plexy_test_active:
ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_volt_plexy_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
elif self.is_civic_bosch_modified:
ff *= get_civic_bosch_modified_b_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * civic_bosch_modified_a_center_taper
friction_threshold = CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD
friction_scale = get_civic_bosch_modified_b_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * civic_bosch_modified_a_center_taper)
if trailer_load_kg > 0.0:
ff *= get_trailer_lateral_ff_scale(trailer_load_kg, CS.vEgo, setpoint)
friction_scale *= get_trailer_lateral_friction_scale(trailer_load_kg, CS.vEgo, setpoint)
ff += friction_scale * get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, friction_threshold, self.torque_params)
deadzone_boost_active = False
if self.torque_deadzone_boost > 0.0 and abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
ff += np.sign(gravity_adjusted_future_lateral_accel) * self.torque_deadzone_boost * boost_scale
deadzone_boost_active = True
if CS.vEgo < self.low_speed_reset_threshold:
self.pid.reset()
freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
if self.is_bolt_2017:
output_torque *= get_bolt_2017_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif bolt_2018_2021_tuned_path_active:
output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
elif ioniq_6_active and not CS.steeringPressed:
desired_angle_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
actual_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetDeg
output_torque = get_ioniq_6_low_speed_angle_assist_torque(desired_angle_no_offset, actual_angle_no_offset,
output_torque, CS.vEgo)
elif volt_standard_test_active:
output_torque *= volt_standard_center_taper
elif kia_ev6_test_active:
output_torque *= kia_ev6_low_speed_center_taper
elif self.is_silverado:
output_torque *= silverado_center_taper
elif kia_niro_phev_2022_active:
output_torque *= kia_niro_phev_2022_center_taper
elif self.is_civic_bosch_modified and civic_bosch_modified_a_lateral_testing_ground_active():
output_torque *= civic_bosch_modified_a_center_taper
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.actualLateralAccel = float(measurement)
pid_log.desiredLateralAccel = float(setpoint)
pid_log.desiredLateralJerk = float(desired_lateral_jerk)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
if DEBUG_TORQUE_TUNE and self.is_bolt:
self.debug_counter += 1
if self.debug_counter % 50 == 0:
print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
self.prev_steering_pressed = CS.steeringPressed
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log
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