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Toyota: prevent lagged gas after heavy braking (#1279)

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rav4kumar
2024-09-24 19:35:30 -07:00
parent 47f54326f5
commit 1f9ea6628a
1 changed files with 5 additions and 4 deletions
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selfdrive/car/toyota/carcontroller.py
+5 -4
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@@ -18,7 +18,9 @@ SteerControlType = car.CarParams.SteerControlType
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
ACCELERATION_DUE_TO_GRAVITY = 9.81
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
ACCEL_WINDUP_LIMIT = 0.5 # m/s^2 / frame
# LKA limits
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -231,9 +233,8 @@ class CarController(CarControllerBase):
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
# internal PCM gas command can get stuck unwinding from negative accel. send one frame of zero when transitioning from braking to gas
#if pcm_accel_cmd > 0 > self.accel and abs(pcm_accel_cmd - self.accel) > 0.5:
# pcm_accel_cmd = 0
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
self.distance_button, reverse_acc))