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Ford: curvature rate limit safety (#28059)

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* bump panda

* add carcontroller

* add carcontroller

* cmt

* bumppanda

* ubmp
This commit is contained in:
Shane Smiskol
2023-05-04 05:37:31 +00:00
committed by GitHub
parent beb7f585ae
commit d888400402
2 changed files with 4 additions and 4 deletions
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panda
+1 -1
Submodule panda updated: b44df8151a...94cd9a0788
selfdrive/car/ford/carcontroller.py
+3 -3
View File
@@ -10,14 +10,14 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
# Note that we do curvature error limiting after the rate limits since they are just for tuning reasons
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
if v_ego_raw > 9:
apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
current_curvature + CarControllerParams.CURVATURE_ERROR)
# Curvature rate limit after driver torque limit
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)