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Nissan: filter angle to reduce jitter (#3415)

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* try this

* filter angle

* filter angle

* just filter angle

* dt

* huh
This commit is contained in:
Shane Smiskol
2026-05-28 20:58:58 -07:00
committed by GitHub
parent ee0104a9cc
commit ff0f8e4398
1 changed files with 13 additions and 2 deletions
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15
opendbc/car/nissan/carcontroller.py
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@@ -1,9 +1,11 @@
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, structs
from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.lateral import apply_std_steer_angle_limits
from opendbc.car.interfaces import CarControllerBase
from opendbc.car.nissan import nissancan
from opendbc.car.nissan.values import CAR, CarControllerParams
from opendbc.car.common.filter_simple import FirstOrderFilter
VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -13,6 +15,8 @@ class CarController(CarControllerBase):
super().__init__(dbc_names, CP)
self.car_fingerprint = CP.carFingerprint
self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
self.apply_angle_last = 0
self.packer = CANPacker(dbc_names[Bus.pt])
@@ -27,8 +31,15 @@ class CarController(CarControllerBase):
### STEER ###
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
# At low speeds and at high steering angles, EPS is sensitive to jitter in angle request. Smooth to fix uncomfortable response.
if CC.latActive:
self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
self.angle_filter.update(actuators.steeringAngleDeg)
else:
self.angle_filter.x = actuators.steeringAngleDeg
# windup slower
self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
self.apply_angle_last = apply_std_steer_angle_limits(self.angle_filter.x, self.apply_angle_last, CS.out.vEgoRaw,
CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
lkas_max_torque = 0