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Add idle torque reduction for Hyundai lateral control

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Introduced `ANGLE_IDLE_TORQUE_REDUCTION_GAIN` to manage torque when the vehicle is stationary, ensuring smoother handling and better lane centering. Updated parsing, parameters, and UI settings to support this new idle torque parameter. Adjusted torque calculation logic and smoothing factor behavior for enhanced control flexibility.
This commit is contained in:
DevTekVE
2025-06-29 13:22:18 +02:00
parent e83705a32e
commit 6f72b74fac
5 changed files with 23 additions and 13 deletions
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common/params_keys.h
+1
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@@ -203,6 +203,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
{"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
{"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
{"HkgTuningAngleIdleTorqueReductionGain", PERSISTENT | BACKUP},
{"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
{"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 11c26d332e...d1b834a572
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
+18 -11
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@@ -22,14 +22,9 @@ AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
auto *list = new ListWidgetSP(this, false);
main_layout->addWidget(new QWidget());
auto *warning = new QLabel(tr("Reboot required for settings to apply"));
warning->setStyleSheet("font-size: 60px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
main_layout->addWidget(warning, 0, Qt::AlignCenter);
list->addItem(horizontal_line());
enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering."), "../assets/offroad/icon_blank.png");
list->addItem(enableHkgAngleSmoothingFactor);
list->addItem(horizontal_line());
auto first_row = new QHBoxLayout();
hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("HKG Tuning Overriding Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
@@ -37,17 +32,22 @@ AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
this->updateToggles(offroad);
});
first_row->addWidget(hkgTuningOverridingCycles);
list->addItem(first_row);
list->addItem(horizontal_line());
auto second_row = new QHBoxLayout();
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("HKG Angle Min ACTIVE Torque"), tr("Minimum torque to apply to the steering wheel when controls are active (and not being overridden by the user).<br/>Must be smaller than max."), "../assets/offroad/icon_blank.png", {0, 100}, 5);
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("HKG Angle Min Active Torque"), tr("Minimum torque applied when lateral control is active and the driver is overriding.<br/>Higher values make the wheel feel stiffer. Must be less than Max Torque."), "../assets/offroad/icon_blank.png", {0, 100}, 1);
connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
this->updateToggles(offroad);
});
second_row->addWidget(hkgAngleMinTorque);
first_row->addWidget(hkgAngleMinTorque);
list->addItem(first_row);
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("HKG Angle Max Torque"), tr("Maximum torque to apply to the steering wheel.<br/>Must be bigger than min."), "../assets/offroad/icon_blank.png", {10, 100}, 5);
auto second_row = new QHBoxLayout();
hkgAngleIdleTorque = new OptionControlSP("HkgTuningAngleIdleTorqueReductionGain", tr("HKG Angle Idle Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {0, 100}, 1);
connect(hkgAngleIdleTorque, &OptionControlSP::updateLabels, hkgAngleIdleTorque, [=]() {
this->updateToggles(offroad);
});
second_row->addWidget(hkgAngleIdleTorque);
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("HKG Angle Max Torque"), tr("Maximum steering torque allowed under normal lateral control.<br/>Prevents excessive EPS stress or noise. Must be greater than Min Torque."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
this->updateToggles(offroad);
});
@@ -57,6 +57,10 @@ AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
main_layout->addWidget(new ScrollViewSP(list, this));
auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
warning->setStyleSheet("font-size: 40px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
main_layout->addWidget(warning, 0, Qt::AlignCenter);
}
void AngleTunningSettings::showEvent(QShowEvent *event) {
@@ -70,6 +74,9 @@ void AngleTunningSettings::updateToggles(bool _offroad) {
auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
auto HkgAngleIdleTorqueValue = QString::fromStdString(params.get("HkgTuningAngleIdleTorqueReductionGain")).toInt();
hkgAngleIdleTorque->setLabel(QString::number(HkgAngleIdleTorqueValue)+"%");
auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
+1
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@@ -33,6 +33,7 @@ private:
ExpandableToggleRow* enableHkgAngleSmoothingFactor;
OptionControlSP* hkgAngleMinTorque;
OptionControlSP* hkgAngleIdleTorque;
OptionControlSP* hkgAngleMaxTorque;
OptionControlSP* hkgTuningOverridingCycles;
ParamControlSP* hkgAngleLiveTuning;
system/manager/manager.py
+2 -1
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@@ -69,7 +69,8 @@ def manager_init() -> None:
("NeuralNetworkLateralControl", "0"),
("QuietMode", "0"),
("EnableHkgTuningAngleSmoothingFactor", "1"),
("HkgTuningAngleMinTorqueReductionGain", "60"),
("HkgTuningAngleMinTorqueReductionGain", "10"),
("HkgTuningAngleIdleTorqueReductionGain", "60"),
("HkgTuningAngleMaxTorqueReductionGain", "100"),
("HkgTuningOverridingCycles", "17"),
("HkgAngleLiveTuning", "0"),