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替换 carcontroller.py

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Mr.one
2026-06-26 11:35:49 +08:00
parent 8d35428ec2
commit 437160a218
1 changed files with 39 additions and 5 deletions
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opendbc_repo/opendbc/car/volkswagen/carcontroller.py
+39 -5
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@@ -105,14 +105,48 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
apply_curvature = apply_curvature + (CS.out.steeringCurvature - (CC.currentCurvature - CC.rollCompensation))
else: # car curv - VM with roll
apply_curvature = actuators.curvature + (CS.out.steeringCurvature - CC.currentCurvature)
apply_curvature = apply_std_curvature_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw, CS.out.steeringCurvature,
CS.out.steeringPressed, self.CCP.STEER_STEP, CC.latActive, self.CCP.CURVATURE_LIMITS)
apply_curvature = apply_std_curvature_limits(
apply_curvature,
self.apply_curvature_last,
CS.out.vEgoRaw,
CS.out.steeringCurvature,
CS.out.steeringPressed,
self.CCP.STEER_STEP,
CC.latActive,
self.CCP.CURVATURE_LIMITS
)
# ------------------------------------------------------------------
# Low speed curvature filter
# Reduce steering oscillation below 40 km/h
# ------------------------------------------------------------------
if CS.out.vEgo < 11.1: # 40 km/h
alpha = np.interp(
CS.out.vEgo,
[0.0, 5.0, 11.1],
[0.30, 0.55, 1.00]
)
apply_curvature = (
alpha * apply_curvature +
(1.0 - alpha) * self.apply_curvature_last
)
min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
target_power_driver = int(np.interp(
CS.out.steeringTorque,
[self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]
))
target_power = int(np.interp(
CS.out.vEgo,
[0., 0.5],
[self.CCP.STEERING_POWER_MIN, target_power_driver]
))
steering_power = min(max(target_power, min_power), max_power)
else: