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Toyota Longitudinal: New TSS2 Tuning

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This commit is contained in:
rav4 kumar
2024-07-01 18:54:03 +00:00
committed by Jason Wen
parent 9097997b76
commit e5665613cb
2 changed files with 22 additions and 9 deletions
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CHANGELOGS.md
+2
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@@ -13,6 +13,8 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
* Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
* Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
* NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
* Re-tuned and tested by the community (July 1, 2024)
* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
sunnypilot - 0.9.7.1 (2024-06-13)
selfdrive/car/toyota/interface.py
+20 -9
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@@ -160,23 +160,34 @@ class CarInterface(CarInterfaceBase):
sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
# hand tuned (July 1, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.01
ret.vEgoStarting = 0.01
ret.stoppingDecelRate = 0.35
def default_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
def default_longitudinal_tuning():
tune.kiBP = [0., 5., 35.]
tune.kiV = [3.6, 2.4, 1.5]
tune = ret.longitudinalTuning
if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
if sp_tss2_long_tune:
tune.kpBP = [0., 5., 20., 30.]
tune.kpV = [1.3, 1.0, 0.7, 0.1]
tune.kiBP = [0., 1., 2., 3., 4., 5., 12., 20., 27., 40.]
tune.kiV = [.348, .3361, .3168, .2831, .2571, .226, .198, .17, .10, .01]
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]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]
tune.kiV = [0.5]
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
default_tss2_longitudinal_tuning()
else:
tune.kiBP = [0., 5., 35.]
tune.kiV = [3.6, 2.4, 1.5]
default_longitudinal_tuning()
if Params().get_bool("ToyotaEnhancedBsm"):
ret.spFlags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value