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This commit is contained in:
firestar5683
2026-04-09 23:24:03 -05:00
parent b4e4fa373f
commit 7ab1ec0ace
3 changed files with 17 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
View File
@@ -18,10 +18,10 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from openpilot.selfdrive.controls.lib.latcontrol_torque import (
BOLT_2018_2021_STEER_RATIO_TEST_SCALE,
BOLT_2017_STEER_RATIO_TEST_SCALE,
LatControlTorque,
bolt_2018_2021_lateral_testing_ground_active,
bolt_2017_lateral_testing_ground_active,
get_bolt_2017_steer_ratio_scale,
)
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
@@ -100,7 +100,7 @@ class Controls:
x = max(lp.stiffnessFactor, 0.1)
sr = max(lp.steerRatio, 0.1)
if self.CP.carFingerprint == GM_CAR.CHEVROLET_BOLT_CC_2017 and bolt_2017_lateral_testing_ground_active():
sr *= BOLT_2017_STEER_RATIO_TEST_SCALE
sr *= get_bolt_2017_steer_ratio_scale(CS.vEgo)
elif self.CP.carFingerprint == GM_CAR.CHEVROLET_BOLT_CC_2018_2021 and bolt_2018_2021_lateral_testing_ground_active():
sr *= BOLT_2018_2021_STEER_RATIO_TEST_SCALE
self.VM.update_params(x, sr)
selfdrive/controls/lib/latcontrol_torque.py
+11
View File
@@ -60,6 +60,8 @@ BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2018_2021_CARS + BOLT_2017_CARS
BOLT_2017_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
BOLT_2017_STEER_RATIO_TEST_SCALE = 1.045
BOLT_2017_STEER_RATIO_ONSET_SPEED = 20.0 * CV.MPH_TO_MS
BOLT_2017_STEER_RATIO_ONSET_WIDTH = 4.0 * CV.MPH_TO_MS
BOLT_2017_TORQUE_SCALE_BP = [0.0, 0.2, 0.5, 1.0, 1.5, 2.5]
BOLT_2017_TORQUE_SCALE_LEFT = [1.0, 1.0, 1.065, 1.060, 1.055, 1.045]
BOLT_2017_TORQUE_SCALE_RIGHT = [1.0, 1.0, 1.035, 1.020, 0.995, 0.985]
@@ -135,6 +137,15 @@ def bolt_2017_lateral_testing_ground_active() -> bool:
return testing_ground.use(BOLT_2017_LATERAL_TESTING_GROUND_ID)
def _bolt_2017_sigmoid(x: float) -> float:
return 1.0 / (1.0 + math.exp(-x))
def get_bolt_2017_steer_ratio_scale(v_ego: float) -> float:
onset = _bolt_2017_sigmoid((max(v_ego, 0.0) - BOLT_2017_STEER_RATIO_ONSET_SPEED) / BOLT_2017_STEER_RATIO_ONSET_WIDTH)
return 1.0 + ((BOLT_2017_STEER_RATIO_TEST_SCALE - 1.0) * onset)
def _bolt_2017_low_speed_factor(v_ego: float) -> float:
return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2017_TRANSITION_SPEED) ** 2)
selfdrive/controls/tests/test_latcontrol.py
+4
View File
@@ -16,6 +16,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
LatControlTorque,
get_friction_threshold,
get_bolt_2017_base_torque_scale,
get_bolt_2017_steer_ratio_scale,
get_bolt_2017_torque_scale,
get_bolt_2022_2023_ff_scale,
get_bolt_2022_2023_friction_scale,
@@ -57,6 +58,9 @@ class TestLatControl:
assert get_bolt_2017_base_torque_scale(0.5) > get_bolt_2017_base_torque_scale(-0.5)
assert 1.0 < get_bolt_2017_base_torque_scale(1.2) < get_bolt_2017_base_torque_scale(0.5)
assert get_bolt_2017_base_torque_scale(-2.5) < 1.0
assert 1.0 < get_bolt_2017_steer_ratio_scale(10.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(20.0 * 0.44704) < get_bolt_2017_steer_ratio_scale(30.0 * 0.44704)
assert get_bolt_2017_steer_ratio_scale(5.0 * 0.44704) < 1.01
assert get_bolt_2017_steer_ratio_scale(35.0 * 0.44704) > 1.04
assert get_bolt_2017_torque_scale(0.6, 0.6, 8.0) > get_bolt_2017_torque_scale(0.6, 0.0, 8.0) > get_bolt_2017_torque_scale(0.6, -0.6, 8.0)
assert get_bolt_2017_torque_scale(-0.6, -0.6, 8.0) > get_bolt_2017_torque_scale(-0.6, 0.0, 8.0) > get_bolt_2017_torque_scale(-0.6, 0.6, 8.0)
assert get_bolt_2017_torque_scale(0.6, 0.6, 8.0) > get_bolt_2017_torque_scale(-0.6, -0.6, 8.0)