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pedal creep

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firestar5683
2026-04-06 17:45:04 -05:00
parent f859b2636d
commit bcce932117
1 changed files with 10 additions and 7 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+10 -7
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@@ -178,20 +178,23 @@ 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])
# Suppress tiny planner sign flaps around zero so creep-speed pedal shaping stays stable.
pedal_accel = 0.0 if abs(accel) < 0.04 else accel
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 pedal_accel >= 0.0:
small_cmd_scale = np.interp(abs(pedal_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 accel < -2.0:
accel_cmd *= np.interp(abs(accel), [2.0, 2.5, 3.0], [1.0, 1.03, 1.06])
small_cmd_scale = np.interp(abs(pedal_accel), [0.0, 0.35, 0.8, 1.5, 2.5], [0.44, 0.54, 0.70, 0.89, 1.0])
accel_cmd = pedal_accel * small_cmd_scale
if pedal_accel < -2.0:
accel_cmd *= np.interp(abs(pedal_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))
if not self.pedal_active_last or switched_state:
if not self.pedal_active_last or (switched_state and v_ego > 1.0):
pedal_gas = target_pedal_gas
self.pedal_active_last = True
else: