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NNLC: restore pre-v1 PID gains in torque extension (#1779)

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* NNLC: restore pre-v1 PID gains in torque extension

When the torque lateral controller was refactored for v1 (VERSION=1),
the NNLC extension's PID gains were inadvertently changed from the
per-vehicle defaults (kp=1.0, ki=0.3, kf=1.0) to the new base
controller values (kp=0.8, ki=0.15, no kf with speed interpolation).

The NNLC extension operates in torque space with its own PID loop
that is independent of the base controller's lateral acceleration PID.
Coupling these gains to the base controller's values results in
noticeably weaker steering response and ping-pong oscillation for
NNLC users, with no workaround since Enforce Torque Lateral Control
and NNLC are mutually exclusive.

This restores the original PID gains that were used before the v1
refactor, matching the behavior from v2025.003.000 and earlier.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

* Remove k_f from PIDController init

k_f was removed from PIDController in the v1 refactor. The old
k_f=1.0 was a no-op (feedforward scale of 1.0), and the current
PIDController applies feedforward unscaled via update(), so
behavior is unchanged.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
mmmorks
2026-04-14 10:33:51 -07:00
committed by GitHub
parent d95bc0dcfe
commit 30a858c23d
2 changed files with 9 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+4 -6
View File
@@ -14,11 +14,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
LAT_PLAN_MIN_IDX = 5
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
# from selfdrive/controls/lib/latcontrol_torque.py
KP = 0.8
KI = 0.15
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
KP = 1.0
KI = 0.3
def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -61,9 +58,10 @@ class LatControlTorqueExtBase:
self.lookahead_lateral_jerk: float = 0.0
self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
self.torque_params = lac_torque.torque_params
self._ff = 0.0
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
self._pid = PIDController(KP, KI)
self._pid_log = None
self._setpoint = 0.0
self._measurement = 0.0
sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+5 -5
View File
@@ -75,14 +75,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
def update_feedforward_torque_space(self, CS):
torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
self.lac_torque.torque_params, gravity_adjusted=False)
self.torque_params, gravity_adjusted=False)
torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
self.lac_torque.torque_params, gravity_adjusted=False)
self.torque_params, gravity_adjusted=False)
self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
FRICTION_THRESHOLD, self.lac_torque.torque_params)
FRICTION_THRESHOLD, self.torque_params)
def update_output_torque(self, CS):
freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -159,6 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
# apply friction override for cars with low NN friction response
if self.model.friction_override:
self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
self.update_output_torque(CS)