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update rav4h_tss2 tune (#1260)

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* update rav4h_tss2 tune

reduce pid gains for rav4h_tss2 to reduce ping pong at local speed and big turn

* update tuning for rav4_tss2 in additional to rav4h_tss2
This commit is contained in:
yufeng66
2020-03-30 14:59:01 -04:00
committed by GitHub
parent 9c16ad8e18
commit ba1e79d0ea
1 changed files with 4 additions and 4 deletions
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selfdrive/car/toyota/interface.py
+4 -4
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@@ -157,9 +157,9 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
ret.lateralTuning.pid.kf = 0.00004
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
@@ -167,9 +167,9 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
ret.lateralTuning.pid.kf = 0.00004
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True