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Re-apply "Lexus ES TSS2: improve start from stop response time" (#1303)

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rav4kumar
2024-09-28 05:28:36 -07:00
parent 060ef30223
commit cf9f10a16d
2 changed files with 12 additions and 5 deletions
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selfdrive/car/toyota/carcontroller.py
+10 -3
View File
@@ -53,6 +53,7 @@ class CarController(CarControllerBase):
self.standstill_req = False
self.steer_rate_counter = 0
self.pcm_accel_compensation = 0.0
self.permit_braking = 0.0
self.distance_button = 0
#self.pid = PIDController(k_p=1.0, k_i=0.25, k_f=0)
@@ -168,9 +169,16 @@ class CarController(CarControllerBase):
self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.01, 0.01)
pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation
# Along with rate limiting positive jerk below, this greatly improves gas response time
# Consider the net acceleration request that the PCM should be applying (pitch included)
if net_acceleration_request < 0.1:
self.permit_braking = True
elif net_acceleration_request > 0.2:
self.permit_braking = False
else:
self.pcm_accel_compensation = 0.0
pcm_accel_cmd = actuators.accel
self.permit_braking = True
pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
@@ -236,11 +244,10 @@ class CarController(CarControllerBase):
# 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))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead, CS.acc_type, fcw_alert, self.distance_button, reverse_acc))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button, reverse_acc))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, reverse_acc))
if self.frame % 2 == 0 and self.CP.enableGasInterceptorDEPRECATED and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
selfdrive/car/toyota/toyotacan.py
+2 -2
View File
@@ -34,14 +34,14 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance, reverse_acc):
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, reverse_acc):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": 0 if pcm_cancel else accel,
"ACC_TYPE": acc_type,
"DISTANCE": distance,
"MINI_CAR": lead,
"PERMIT_BRAKING": 1,
"PERMIT_BRAKING": permit_braking,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": reverse_acc,