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volt tune / 2018 bolt tune

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This commit is contained in:
firestar5683
2026-04-09 20:55:24 -05:00
parent e91d0bef87
commit 01bf1d15c2
5 changed files with 45 additions and 16 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+5 -4
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@@ -574,12 +574,13 @@ class CarInterface(CarInterfaceBase):
)
if volt_test_tune_active:
# Volt interceptor-long currently falls back to an all-I tune on this path.
# The test-ground tune adds a modest P term, reduces I memory, and uses a
# dedicated starting state so stop-and-go launches do not wind up the PID.
# The test-ground tune adds a modest P term, trims mid/high-speed I memory,
# and uses a dedicated starting state so stop-and-go launches do not wind
# up the PID.
ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
ret.longitudinalTuning.kpV = [0.10, 0.08, 0.06, 0.045]
ret.longitudinalTuning.kpV = [0.10, 0.072, 0.050, 0.040]
ret.longitudinalTuning.kiBP = [0.0, 4.0, 12.0, 35.0]
ret.longitudinalTuning.kiV = [0.025, 0.035, 0.055, 0.080]
ret.longitudinalTuning.kiV = [0.025, 0.030, 0.040, 0.055]
ret.startingState = True
ret.startAccel = 1.15
ret.vEgoStarting = max(ret.vEgoStarting, 0.35)
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+2 -2
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@@ -68,8 +68,8 @@ class TestGMInterface:
car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles())
assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.08, 0.06, 0.045]
assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.035, 0.055, 0.08]
assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.072, 0.05, 0.04]
assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.03, 0.04, 0.055]
assert car_params.startingState
assert car_params.startAccel == pytest.approx(1.15)
selfdrive/controls/lib/latcontrol_torque.py
+6 -6
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@@ -86,19 +86,19 @@ 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 = 0.72
BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.84
BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.80
BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.96
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 = 0.13
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.17
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.21
BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
BOLT_2022_2023_FF_GAIN_LEFT = 0.13
selfdrive/controls/lib/longcontrol.py
+11 -4
View File
@@ -155,14 +155,21 @@ class LongControl:
self.integrator_hold_frames = 0
def _get_pedal_long_freeze(self, a_target, error, v_ego, accel_limits):
if not self.is_gm_pedal_long:
volt_test_tune_handoff = self.is_volt_interceptor and testing_ground.use_2
if not self.is_gm_pedal_long and not volt_test_tune_handoff:
self.last_a_target = a_target
self.integrator_hold_frames = 0
return False
handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.35, 0.45, 0.55, 0.70])
if abs(a_target - self.last_a_target) > handoff_threshold:
if self.is_gm_pedal_long:
handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.35, 0.45, 0.55, 0.70])
hold_frames = int(round(interp(v_ego, [0.0, 4.0, 12.0, 25.0], [25.0, 20.0, 14.0, 10.0])))
else:
handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.24, 0.30, 0.38, 0.48])
hold_frames = int(round(interp(v_ego, [0.0, 4.0, 12.0, 25.0], [12.0, 10.0, 8.0, 6.0])))
if abs(a_target - self.last_a_target) > handoff_threshold:
self.integrator_hold_frames = max(self.integrator_hold_frames, hold_frames)
self.last_a_target = a_target
@@ -183,7 +190,7 @@ class LongControl:
# Bleed stale I quickly when the target reverses against stored integrator.
if self.pid.i * error < 0.0 and abs(error) > 0.05:
bleed = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.86, 0.90, 0.94, 0.97])
bleed = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.82, 0.86, 0.90, 0.94])
self.pid.i *= bleed
def update(self, active, CS, a_target, should_stop, accel_limits, starpilot_toggles):
selfdrive/controls/tests/test_longcontrol.py
+21
View File
@@ -1,5 +1,7 @@
from cereal import car
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
@@ -54,3 +56,22 @@ def test_starting():
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
should_stop=False, brake_pressed=False, cruise_standstill=False)
assert next_state == LongCtrlState.pid
def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
CP = car.CarParams.new_message()
CP.brand = "gm"
CP.enableGasInterceptorDEPRECATED = True
CP.carFingerprint = "CHEVROLET_VOLT_ASCM"
CP.longitudinalTuning.kpBP = [0.0]
CP.longitudinalTuning.kpV = [0.1]
CP.longitudinalTuning.kiBP = [0.0]
CP.longitudinalTuning.kiV = [0.03]
monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)
lc = LongControl(CP)
freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))
assert freeze
assert lc.integrator_hold_frames > 0