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Pedal tune

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This commit is contained in:
firestar5683
2026-03-24 21:39:44 -05:00
parent c82a1a3830
commit 8e3753d55b
2 changed files with 21 additions and 16 deletions
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common/params_keys.h
+8 -8
View File
@@ -385,11 +385,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
{"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
{"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
{"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
@@ -446,11 +446,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardFollowHigh", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
{"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
{"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
opendbc_repo/opendbc/car/gm/carcontroller.py
+13 -8
View File
@@ -179,15 +179,18 @@ class CarController(CarControllerBase):
accel_gain = np.interp(v_ego, [0.0, 3.0, 8.0, 20.0], [0.47, 0.52, 0.57, 0.61])
pedaloffset = np.interp(v_ego, [0.0, 1.0, 3.0, 6.0, 15.0, 30.0], [0.085, 0.11, 0.17, 0.23, 0.235, 0.23])
accel_term_scale = (1.0 / max(gain, 1e-3)) if press_regen_paddle else 1.0
if accel >= 0.0:
small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.58, 0.68, 0.82, 0.93, 1.0])
if not press_regen_paddle and accel < 0.0:
raw_pedal_gas = float(np.clip(pedaloffset + accel * 0.6, 0.0, 1.0))
else:
small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
accel_cmd = accel * small_cmd_scale
if (not press_regen_paddle) and accel < -2.0:
accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
accel_term_scale = (1.0 / max(gain, 1e-3)) if press_regen_paddle else 1.0
if accel >= 0.0:
small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.58, 0.68, 0.82, 0.93, 1.0])
else:
small_cmd_scale = np.interp(abs(accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
accel_cmd = accel * small_cmd_scale
if (not press_regen_paddle) and accel < -2.0:
accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
raw_pedal_gas = float(np.clip(pedaloffset + accel_cmd * accel_gain * accel_term_scale, 0.0, 1.0))
pedal_gas_max = np.interp(v_ego, [0.0, 1.0, 2.5, 4.5, 6.0, 8.0, 12.0], [0.20, 0.235, 0.29, 0.365, 0.52, 0.78, 1.0])
target_pedal_gas = float(np.clip(raw_pedal_gas, 0.0, pedal_gas_max))
@@ -195,6 +198,8 @@ class CarController(CarControllerBase):
if not self.pedal_active_last or switched_state:
pedal_gas = target_pedal_gas
self.pedal_active_last = True
elif not press_regen_paddle and accel < 0.0:
pedal_gas = target_pedal_gas
else:
urgency = float(np.clip(abs(accel) / 2.0, 0.0, 1.0))
rate_up = np.interp(v_ego, [0.0, 3.0, 8.0, 20.0], [0.007, 0.012, 0.022, 0.036]) + 0.011 * urgency