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This commit is contained in:
firestar5683
2026-04-08 15:55:51 -05:00
parent 5b27f36a62
commit 89d3a0ef23
2 changed files with 11 additions and 10 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+8 -8
View File
@@ -98,27 +98,27 @@ BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
BOLT_2022_2023_FF_GAIN_LEFT = 0.11
BOLT_2022_2023_FF_GAIN_RIGHT = 0.08
BOLT_2022_2023_FF_GAIN_LEFT = 0.13
BOLT_2022_2023_FF_GAIN_RIGHT = 0.07
BOLT_2022_2023_FF_ONSET = 0.12
BOLT_2022_2023_FF_ONSET_WIDTH = 0.07
BOLT_2022_2023_FF_CUTOFF = 1.35
BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
BOLT_2022_2023_TRANSITION_SPEED = 9.0
BOLT_2022_2023_PHASE_SCALE = 0.12
BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.05
BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.10
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_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 = 0.08
BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.11
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_TURN_IN_FRICTION_BOOST_LEFT = 0.04
BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
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
selfdrive/controls/tests/test_latcontrol.py
+3 -2
View File
@@ -91,6 +91,7 @@ class TestLatControl:
def test_bolt_2022_2023_ff_scale_curve(self):
assert get_bolt_2022_2023_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_bolt_2022_2023_ff_scale(0.5, 0.0, 20.0) > get_bolt_2022_2023_ff_scale(-0.5, 0.0, 20.0)
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)
@@ -100,7 +101,7 @@ class TestLatControl:
right_turn_in = get_bolt_2022_2023_friction_threshold(6.0, -0.7, -0.8)
left_unwind = get_bolt_2022_2023_friction_threshold(6.0, 0.7, -0.8)
right_unwind = get_bolt_2022_2023_friction_threshold(6.0, -0.7, 0.8)
assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
assert left_turn_in < right_turn_in < base < right_unwind < left_unwind
def test_bolt_2022_2023_friction_scale_curve(self):
base = get_bolt_2022_2023_friction_scale(25.0, 0.7, 0.8)
@@ -108,7 +109,7 @@ class TestLatControl:
right_turn_in = get_bolt_2022_2023_friction_scale(6.0, -0.7, -0.8)
left_unwind = get_bolt_2022_2023_friction_scale(6.0, 0.7, -0.8)
right_unwind = get_bolt_2022_2023_friction_scale(6.0, -0.7, 0.8)
assert right_turn_in > left_turn_in > base
assert left_turn_in > right_turn_in > base
assert base > right_unwind > left_unwind
def test_bolt_2017_testing_ground_update_path(self, monkeypatch):