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Longitudinal tune for Corolla TSS2 (#2746)

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This commit is contained in:
Igor
2021-02-01 07:43:42 -05:00
committed by GitHub
parent 4dcb22f03f
commit 745b91ee57
1 changed files with 10 additions and 1 deletions
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selfdrive/car/toyota/interface.py
+10 -1
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@@ -208,7 +208,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.minSpeedCan = 0.375
ret.safetyParam = 73
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
@@ -216,6 +215,16 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
# Longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True