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Toyota TSS2 longitudinal improvements (#108)

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* Toyota TSS2 longitudinal improvements

* IDE doesn't like it
This commit is contained in:
Jason Wen
2023-02-05 21:58:19 -05:00
committed by GitHub
parent 3188d11efd
commit 60c02cf87b
1 changed files with 5 additions and 5 deletions
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selfdrive/car/toyota/interface.py
+5 -5
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@@ -220,14 +220,14 @@ class CarInterface(CarInterfaceBase):
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.]
tune.kiV = [.35, .23, .20, .17, .1]
tune.kpBP = [0., 5., 20., 30.]
tune.kpV = [1.3, 1.0, 0.7, 0.1]
tune.kiBP = [0., 8.3, 11.9, 13.8, 19.7, 30., 33., 40.]
tune.kiV = [.02, .03, .14, .18, .18, .06, .01, .001]
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.stoppingDecelRate = 0.009 # reach stopping target smoothly
else:
tune.kpBP = [0., 5., 35.]
tune.kiBP = [0., 35.]