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Updated Bolt Tunes

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This commit is contained in:
firestar5683
2026-04-08 18:00:02 -05:00
parent 89d3a0ef23
commit 3e885e238c
3 changed files with 49 additions and 11 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+20 -11
View File
@@ -72,20 +72,23 @@ BOLT_2017_UNWIND_TAPER_RIGHT = 0.28
BOLT_2018_2021_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
BOLT_2018_2021_STEER_RATIO_TEST_SCALE = 1.01
BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.085
BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.055
BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.090
BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.050
BOLT_2018_2021_TORQUE_ONSET = 0.18
BOLT_2018_2021_TORQUE_ONSET_WIDTH = 0.08
BOLT_2018_2021_TORQUE_CUTOFF = 1.05
BOLT_2018_2021_TORQUE_CUTOFF_WIDTH = 0.24
BOLT_2018_2021_JERK_TAPER_CUTOFF = 0.42
BOLT_2018_2021_CENTER_TAPER_LAT = 0.12
BOLT_2018_2021_CENTER_TAPER_WIDTH = 0.04
BOLT_2018_2021_CENTER_TAPER_GAIN = 0.35
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_FRICTION_MULT = 1.03
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
@@ -108,19 +111,19 @@ BOLT_2022_2023_TRANSITION_SPEED = 9.0
BOLT_2022_2023_PHASE_SCALE = 0.12
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.12
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.06
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.24
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.20
BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.28
BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.24
BOLT_2022_2023_FRICTION_MULT = 1.15
BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.13
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.20
BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.16
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
def get_friction_threshold(v_ego: float) -> float:
@@ -208,7 +211,11 @@ def get_bolt_2018_2021_torque_scale(desired_lateral_accel: float) -> float:
def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
base_scale = get_bolt_2018_2021_torque_scale(desired_lateral_accel)
extra_scale = max(base_scale - 1.0, 0.0)
abs_lateral_accel = abs(desired_lateral_accel)
low_speed_factor = _bolt_2018_2021_low_speed_factor(v_ego)
high_speed_factor = 1.0 - low_speed_factor
center_window = _bolt_2018_2021_sigmoid((BOLT_2018_2021_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2018_2021_CENTER_TAPER_WIDTH)
center_taper = 1.0 - (BOLT_2018_2021_CENTER_TAPER_GAIN * high_speed_factor * center_window)
phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
jerk_taper = 1.0 / (1.0 + (abs(desired_lateral_jerk) / BOLT_2018_2021_JERK_TAPER_CUTOFF) ** 2)
@@ -217,7 +224,7 @@ def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desire
unwind_weight = max(-phase, 0.0)
unwind_taper = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT, BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT) *
unwind_weight * (0.55 + 0.45 * low_speed_factor))
return 1.0 + (extra_scale * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
return 1.0 + (extra_scale * center_taper * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
@@ -282,13 +289,15 @@ def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_je
cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH)
extra_scale = gain * onset * cutoff
low_speed_factor = _bolt_2022_2023_low_speed_factor(v_ego)
transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
turn_in_weight = max(phase, 0.0)
unwind_weight = max(-phase, 0.0)
turn_in_boost = 1.0 + (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_BOOST_LEFT, BOLT_2022_2023_TURN_IN_BOOST_RIGHT) *
turn_in_weight * low_speed_factor)
unwind_envelope = (0.25 + 0.75 * low_speed_factor) * (1.0 + 0.45 * transition_envelope)
unwind_taper = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_TAPER_LEFT, BOLT_2022_2023_UNWIND_TAPER_RIGHT) *
unwind_weight * (0.55 + 0.45 * low_speed_factor))
unwind_weight * unwind_envelope)
return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
selfdrive/controls/tests/test_latcontrol.py
+4
View File
@@ -66,6 +66,7 @@ class TestLatControl:
assert get_bolt_2018_2021_torque_scale(0.2) > get_bolt_2018_2021_torque_scale(0.08)
assert get_bolt_2018_2021_torque_scale(0.4) > get_bolt_2018_2021_torque_scale(-0.4)
assert get_bolt_2018_2021_torque_scale(2.0) < get_bolt_2018_2021_torque_scale(0.8)
assert get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 25.0) < get_bolt_2018_2021_dynamic_torque_scale(0.08, 0.0, 8.0)
assert get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.8, 20.0) < get_bolt_2018_2021_dynamic_torque_scale(0.4, 0.1, 20.0)
assert get_bolt_2018_2021_dynamic_torque_scale(0.6, -0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(0.6, 0.6, 8.0)
assert get_bolt_2018_2021_dynamic_torque_scale(-0.6, 0.6, 8.0) < get_bolt_2018_2021_dynamic_torque_scale(-0.6, -0.6, 8.0)
@@ -81,10 +82,12 @@ class TestLatControl:
def test_bolt_2018_2021_friction_scale_curve(self):
base = get_bolt_2018_2021_friction_scale(25.0, 0.7, 0.8)
center_base = get_bolt_2018_2021_friction_scale(25.0, 0.0, 0.0)
left_turn_in = get_bolt_2018_2021_friction_scale(6.0, 0.7, 0.8)
right_turn_in = get_bolt_2018_2021_friction_scale(6.0, -0.7, -0.8)
left_unwind = get_bolt_2018_2021_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_bolt_2018_2021_friction_scale(6.0, -0.7, 0.8)
assert center_base < 1.02
assert left_turn_in > right_turn_in > base
assert base > left_unwind > right_unwind
@@ -94,6 +97,7 @@ class TestLatControl:
assert get_bolt_2022_2023_ff_scale(0.6, 0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0)
assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 8.0)
assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 8.0) < get_bolt_2022_2023_ff_scale(0.6, 0.0, 8.0)
assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 6.0) < get_bolt_2022_2023_ff_scale(0.6, -0.7, 20.0)
def test_bolt_2022_2023_friction_threshold_curve(self):
base = get_friction_threshold(6.0)
tools/tuning/analyze_bolt_lateral.py
+25
View File
@@ -16,6 +16,7 @@ class ControlSample:
steering_pressed: bool
lat_active: bool
saturated: bool
roll_rad: float
actual_la: float
desired_la: float
desired_jerk: float
@@ -25,6 +26,9 @@ class ControlSample:
torque_cmd: float
LOW_ROLL_THRESHOLD_DEG = 1.5
def siglin_torque(lat_accel: float, params: dict[str, list[float]]) -> float:
side = "left" if lat_accel >= 0.0 else "right"
a, b, c, d = params[side]
@@ -42,6 +46,7 @@ def summarize_control_samples(samples: list[ControlSample]) -> None:
steering_pressed = np.array([s.steering_pressed for s in samples], dtype=bool)
lat_active = np.array([s.lat_active for s in samples], dtype=bool)
saturated = np.array([s.saturated for s in samples], dtype=bool)
roll = np.array([s.roll_rad for s in samples])
actual = np.array([s.actual_la for s in samples])
desired = np.array([s.desired_la for s in samples])
jerk = np.array([s.desired_jerk for s in samples])
@@ -50,8 +55,20 @@ def summarize_control_samples(samples: list[ControlSample]) -> None:
f_term = np.array([s.f_term for s in samples])
torque_cmd = np.array([s.torque_cmd for s in samples])
roll_valid = np.isfinite(roll)
low_roll = roll_valid & (np.abs(roll) <= math.radians(LOW_ROLL_THRESHOLD_DEG))
high_roll = roll_valid & (~low_roll)
base = lat_active & (~steering_pressed) & (v > 8.0)
transition_base = lat_active & (~steering_pressed) & (v > 4.0) & (~saturated)
if np.any(roll_valid):
print("\nRoll context:")
print(
f" valid={int(roll_valid.sum()):5d}/{len(samples):5d} "
f"abs_mean_deg={np.mean(np.degrees(np.abs(roll[roll_valid]))):.3f} "
f"abs_p95_deg={np.percentile(np.degrees(np.abs(roll[roll_valid])), 95):.3f} "
f"low_roll_deg<={LOW_ROLL_THRESHOLD_DEG:.1f}"
)
masks = (
("all", base),
("all_non_sat", base & (~saturated)),
@@ -60,6 +77,11 @@ def summarize_control_samples(samples: list[ControlSample]) -> None:
("center", base & (~saturated) & (np.abs(desired) < 0.1)),
("steady_left", base & (~saturated) & (desired >= 0.1) & (np.abs(jerk) < 0.2)),
("steady_right", base & (~saturated) & (desired <= -0.1) & (np.abs(jerk) < 0.2)),
("steady_left_low_roll", base & (~saturated) & low_roll & (desired >= 0.1) & (np.abs(jerk) < 0.2)),
("steady_right_low_roll", base & (~saturated) & low_roll & (desired <= -0.1) & (np.abs(jerk) < 0.2)),
("center_low_roll", base & (~saturated) & low_roll & (np.abs(desired) < 0.1)),
("steady_left_high_roll", base & (~saturated) & high_roll & (desired >= 0.1) & (np.abs(jerk) < 0.2)),
("steady_right_high_roll", base & (~saturated) & high_roll & (desired <= -0.1) & (np.abs(jerk) < 0.2)),
("low_speed_sharp", transition_base & (v < 14.0) & (np.abs(desired) >= 0.4) & (np.abs(jerk) >= 0.35)),
("turn_in", transition_base & (v < 14.0) & (np.abs(desired) >= 0.4) & (np.abs(jerk) >= 0.35) & ((desired * jerk) > 0.0)),
("unwind", transition_base & (v < 14.0) & (np.abs(desired) >= 0.4) & (np.abs(jerk) >= 0.35) & ((desired * jerk) < 0.0)),
@@ -144,6 +166,8 @@ def main() -> None:
if which in ("carState", "carControl"):
latest[which] = getattr(msg, which)
elif which == "liveParameters":
latest[which] = msg.liveParameters
elif which == "controlsState" and "carState" in latest and "carControl" in latest:
lateral_state = msg.controlsState.lateralControlState
if lateral_state.which() == "torqueState":
@@ -153,6 +177,7 @@ def main() -> None:
steering_pressed=latest["carState"].steeringPressed,
lat_active=latest["carControl"].latActive,
saturated=torque_state.saturated,
roll_rad=float(getattr(latest.get("liveParameters"), "roll", float("nan"))),
actual_la=torque_state.actualLateralAccel,
desired_la=torque_state.desiredLateralAccel,
desired_jerk=torque_state.desiredLateralJerk,