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Mr.one
2025-04-19 10:11:45 +08:00
parent 40c5256427
commit 3765a443f6
1 changed files with 1 additions and 8 deletions
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opendbc_repo/opendbc/car/volkswagen/carcontroller.py
+1 -8
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@@ -68,15 +68,8 @@ class CarController(CarControllerBase):
if CC.latActive:
min_power = max(self.apply_steer_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
max_power = max(self.apply_steer_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
#target_power = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
target_power = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
if CS.out.vEgo < 10 * CV.KPH_TO_MS:
# 低速时保持一个温和固定值
target_power = 60
else:
target_power = int(np.interp(CS.out.steeringTorque,[self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
apply_steer_power = min(max(target_power, min_power), max_power)
elif self.apply_steer_power_last > 0:
apply_steer_power = max(self.apply_steer_power_last - self.CCP.STEERING_POWER_STEP, 0)