mawei/opendbc-meb
1
0
Fork 0
mirror of https://github.com/infiniteCable2/opendbc.git synced 2026-06-08 10:54:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

unify MAX_LAT_ACCEL and JERK (#3414)

Browse Source 
* unify max lat accel

* add test

* fix

* rm

* no ford

* something

* revert

* more forethought

* no classbar

* rm

* this isn't used anywhere

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Daniel Koepping
2026-05-31 01:16:49 -07:00
committed by GitHub
parent 62cd798e8d
commit df4ed5afe9
3 changed files with 24 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
opendbc/car/ford/carcontroller.py
View File

@@ -2,7 +2,7 @@ import math
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
from opendbc.car.lateral import AVERAGE_ROAD_ROLL, ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
from opendbc.car.ford import fordcan
from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
@@ -11,8 +11,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
VisualAlert = structs.CarControl.HUDControl.VisualAlert
# CAN FD limits:
# Limit to average banked road since safety doesn't have the roll
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
# Limit to average banked road since safety doesn't have the roll, higher actual roll lowers lateral acceleration
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2

25
opendbc/car/lateral.py
View File

@@ -1,26 +1,39 @@
import math
import numpy as np
from dataclasses import dataclass
from opendbc.car import structs, rate_limit, DT_CTRL
from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.vehicle_model import VehicleModel
FRICTION_THRESHOLD = 0.2
# ISO 11270
# - ISO 11270
ISO_LATERAL_ACCEL = 3.0 # m/s^2
ISO_LATERAL_JERK = 5.0 # m/s^3
# - Common angle safety limits
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
# TODO: deprecate in favor of vehicle-model-based limiting
# (need to solve cars having different steering ratios, etc.)
@dataclass
class AngleSteeringLimits:
# v1 limits (using apply_std_steer_angle_limits)
# uses apply_std_steer_angle_limits
STEER_ANGLE_MAX: float
ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]
# v2 vehicle model limits (using apply_steer_angle_limits_vm)
MAX_LATERAL_ACCEL: float = 0
MAX_LATERAL_JERK: float = 0
@dataclass
class AngleSteeringLimitsVM:
# uses apply_steer_angle_limits_vm
# Max accepted by the EPS
STEER_ANGLE_MAX: float
# Add extra tolerance for average banked road since safety doesn't have the roll
MAX_LATERAL_ACCEL: float = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~3.6 m/s^2
# Lower than ISO 11270 lateral jerk limit (5.0 m/s^3) with bank tolerance, matches safety MAX_LATERAL_JERK
MAX_LATERAL_JERK: float = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~3.6 m/s^3
# Used for comfort or to prevent faults at low speed
MAX_ANGLE_RATE: float = math.inf

19
opendbc/car/tesla/values.py
View File

@@ -1,7 +1,7 @@
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
from opendbc.car.lateral import AngleSteeringLimitsVM
from opendbc.car.structs import CarParams, CarState
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -106,23 +106,10 @@ GEAR_MAP = {
}
# Add extra tolerance for average banked road since safety doesn't have the roll
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
class CarControllerParams:
ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
# EPAS faults above this angle
360, # deg
# Tesla uses a vehicle model instead, check carcontroller.py for details
([], []),
([], []),
# Vehicle model angle limits
# Add extra tolerance for average banked road since safety doesn't have the roll
MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^2
MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^3
# limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
MAX_ANGLE_RATE=5, # deg/20ms frame, EPS faults at 12 at a standstill
)