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prius glides tunes

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This commit is contained in:
rav4kumar
2024-07-26 19:26:25 -07:00
parent c831b5f2af
commit cab9ccf0d8
3 changed files with 23 additions and 19 deletions
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selfdrive/car/toyota/interface.py
+10 -5
View File
@@ -162,9 +162,9 @@ class CarInterface(CarInterfaceBase):
# hand tuned (July 1, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.01
ret.vEgoStarting = 0.01
ret.stoppingDecelRate = 0.35
ret.vEgoStopping = 0.001
ret.vEgoStarting = 0.001
ret.stoppingDecelRate = 0.0074
def default_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.25
@@ -178,8 +178,13 @@ class CarInterface(CarInterfaceBase):
tune = ret.longitudinalTuning
if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
if sp_tss2_long_tune:
tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01]
#tune.kiBP = [0., 0.1, 3., 12., 20., 26., 36., 50]
#tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06]
#smooth
tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
tune.kiV = [0.33, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06]
#tune.kiBP = [0., 2., 5., 12., 16, 20., 27., 36., 50]
#tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+6 -7
View File
@@ -89,17 +89,16 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.5, 1.5, 1.5, 1.6, 1.76, 1.76, 1.78, 1.78, 1.8, 1.8]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.40, 1.40, 1.40, 1.50, 1.60, 1.76, 1.76, 1.78, 1.8, 1.8]
x_vel = [0, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.52, 1.50, 1.60, 1.76, 1.76, 1.78, 1.8, 1.8]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.3, 1.3, 1.3, 1.35, 1.35, 1.385, 1.385, 1.4, 1.4, 1.45]
x_vel = [0, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.32, 1.30, 1.385, 1.385, 1.4, 1.4, 1.45]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 5, 5.01, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.12, 1.12, 1.12, 1.12, 1.12, 1.105, 1.105, 1.15, 1.15, 1.18, 1.20, 1.23]
x_vel = [0, 5, 5.01, 15, 17, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [0.81, 0.80, 1.16, 1.15, 1.16, 1.24, 1.25, 1.25, 1.25, 1.25, 1.25]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)
# multiplier for A_CHANGE_COST = 200.
selfdrive/controls/lib/sunnypilot/accel_controller.py
+7 -7
View File
@@ -29,14 +29,14 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw
_DP_CRUISE_MIN_V = [-1.03, -0.79, -0.77, -0.77, -0.75, -0.75, -0.88, -0.82]
_DP_CRUISE_MIN_V_ECO = [-1.02, -0.78, -0.75, -0.75, -0.73, -0.73, -0.80, -0.80]
_DP_CRUISE_MIN_V_SPORT = [-1.04, -0.81, -0.79, -0.79, -0.77, -0.77, -0.90, -0.84]
_DP_CRUISE_MIN_BP = [0., 0.05, 0.1, 0.5, 8.33, 16., 30., 40.]
_DP_CRUISE_MIN_V = [-0.07, -0.08, -0.20, -0.20, -0.27, -0.88, -0.82]
_DP_CRUISE_MIN_V_ECO = [-0.07, -0.07, -0.18, -0.18, -0.26, -0.80, -0.80]
_DP_CRUISE_MIN_V_SPORT = [-0.07, -0.09, -0.22, -0.22, -0.28, -0.90, -0.84]
_DP_CRUISE_MIN_BP = [0., 5.55, 5.56, 17., 20.01, 30.01, 33.]
_DP_CRUISE_MAX_V = [2.5, 2.5, 2.5, 1.70, 1.05, .81, .625, .42, .348, .12]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.4, .80, .68, .53, .32, .20, .085]
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.8, 2.4, 1.4, 1.0, .89, .75, .50, .2]
_DP_CRUISE_MAX_V = [3.0, 3.0, 3.0, 2.1, 1.2, .86, .70, .51, .42, .13]
_DP_CRUISE_MAX_V_ECO = [2.4, 2.4, 2.4, 1.8, .93, .72, .53, .42, .31, .085]
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.4, 2.6, 1.8, 1.1, .96, .78, .60, .4]
_DP_CRUISE_MAX_BP = [0., 1., 6., 8., 11., 15., 20., 25., 30., 55.]