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Toyota Camry TSS2: update torque control params (#24819)

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Use updated accel and friction values for TSS2 Camry
This commit is contained in:
Shane Smiskol
2022-06-13 09:29:28 -07:00
committed by GitHub
parent 7bca95dbb8
commit 566de12671
1 changed files with 2 additions and 2 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -31,6 +31,7 @@ class CarInterface(CarInterfaceBase):
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
torque_params = CarInterfaceBase.get_torque_params(candidate)
if candidate == CAR.PRIUS:
stop_and_go = True
@@ -91,8 +92,7 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
else:
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)