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testing

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Comma Device
2026-03-30 03:03:21 +00:00
parent d72b018c4d
commit c6f680d36a
2 changed files with 30 additions and 5 deletions
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33
opendbc/car/hyundai/carcontroller.py
View File

@@ -1,7 +1,8 @@
import numpy as np
from opendbc.car.vehicle_model import VehicleModel
from opendbc.car.common.filter_simple import FirstOrderFilter
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs, rate_limit
from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs, rate_limit, apply_hysteresis
from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance, apply_steer_angle_limits_vm
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai import hyundaicanfd, hyundaican
@@ -53,12 +54,12 @@ def process_hud_alert(enabled, fingerprint, hud_control):
def compute_torque_reduction_gain(steering_torque, v_ego_kph, lat_active, last_gain):
if lat_active:
ceiling = np.interp(v_ego_kph, [40, 120], [0.85, 1.0])
target = np.interp(abs(steering_torque), [140, 420], [ceiling, 0.19])
ceiling = np.interp(v_ego_kph, [40, 120], [0.8, 1.0])
target = np.interp(abs(steering_torque), [140, 500], [ceiling, 0.1])
else:
target = 0.0
delta = target - last_gain
gain = last_gain + max(-0.01, min(0.004, delta))
gain = last_gain + max(-0.012, min(0.006, delta))
return round(gain / 0.004) * 0.004
@@ -69,6 +70,8 @@ class CarController(CarControllerBase):
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_names[Bus.pt])
self.angle_limit_counter = 0
self.fof = FirstOrderFilter(0.0, 0.1, 0.01)
self.angle_steady = 0
self.accel_last = 0
self.apply_torque_last = 0
@@ -103,6 +106,18 @@ class CarController(CarControllerBase):
# alpha = np.interp(abs(CS.out.vEgoRaw), [0, 2.8, 5.6, 8.3, 11.1, 13.9], [0.15, 0.20, 0.25, 0.35, 0.55, 1.0])
# desired_angle = float(desired_angle * alpha + self.apply_angle_last * (1 - alpha))
if CC.latActive:
#print(apply_angle_last, self.apply_angle_last)
print(desired_angle, self.angle_steady)
deadzone = np.interp(CS.out.vEgo, [10, 15], [3, 0])
desired_angle = apply_hysteresis(desired_angle, self.angle_steady, deadzone)
#desired_angle = self.fof.update(desired_angle)
#print('after', apply_angle_last)
print('after', desired_angle)
self.angle_steady = desired_angle
#print()
self.apply_angle_last = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last,
CS.out.vEgoRaw, CS.out.steeringAngleDeg,
CC.latActive, self.params, self.VM)
@@ -115,8 +130,18 @@ class CarController(CarControllerBase):
# apply_torque = rate_limit(apply_torque, self.apply_torque_last, -0.012, 0.002) # try 0.004, that's stock
apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, CS.out.vEgoRaw * CV.MS_TO_KPH,
CC.latActive, self.apply_torque_last)
#self.apply_angle_last = apply_angle_last_tmp
#self.angle_steady = self.apply_angle_last
#self.apply
#self.angle_steady = self.apply_angle_last
apply_steer_req = CC.latActive
if not CC.latActive:
self.fof.x = CS.out.steeringAngleDeg
self.angle_steady = CS.out.steeringAngleDeg
self.apply_angle_last = CS.out.steeringAngleDeg
# torque control
else:

2
opendbc/car/hyundai/values.py
View File

@@ -31,7 +31,7 @@ class CarControllerParams:
([], []),
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,
MAX_ANGLE_RATE=5 # comfort rate limit for angle commands, in degrees per frame.
MAX_ANGLE_RATE=1 # comfort rate limit for angle commands, in degrees per frame.
)
def __init__(self, CP):