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Car interface: set max lateral torque from table (#24789)

Browse Source 
* json

* better naem

* Read from table

* formatting and default to nan

* Generate docs

* Read from table

* this should be the same

* Prius v is full

* test we always set the tunes correctly

add to release files

* Set for all cars

Set for all cars

* Revert tuning changes

Revert tuning changes

* remove that

* fixes

* update ref commit for new maxLateralAccels

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 3066ad81a8
This commit is contained in:
HaraldSchafer
2022-06-10 17:57:23 -07:00
committed by GitHub
parent ee7d406139
commit f7edd5f3d3
15 changed files with 57 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/chrysler/interface.py
-8
View File
@@ -23,14 +23,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
# set max lateral acceleration
if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.maxLateralAccel = 1.6
if candidate in (CAR.PACIFICA_2018_HYBRID,):
ret.maxLateralAccel = 1.4
if candidate in (CAR.PACIFICA_2017_HYBRID,):
ret.maxLateralAccel = 1.2
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
selfdrive/car/docs_definitions.py
+1 -1
View File
@@ -7,7 +7,7 @@ from enum import Enum
from typing import Dict, List, Optional, Union, no_type_check
TACO_TORQUE_THRESHOLD = 2.5 # m/s^2
GREAT_TORQUE_THRESHOLD = 1.5 # m/s^2
GREAT_TORQUE_THRESHOLD = 1.4 # m/s^2
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
selfdrive/car/gm/interface.py
-2
View File
@@ -83,7 +83,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
@@ -111,7 +110,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.maxLateralAccel = 1.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
elif candidate == CAR.BUICK_REGAL:
selfdrive/car/honda/interface.py
-11
View File
@@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.maxLateralAccel = 0.4
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
@@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase):
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
@@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.maxLateralAccel = 1.7
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
tire_stiffness_factor = 0.677
@@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.maxLateralAccel = 1.7
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
@@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444
ret.maxLateralAccel = 0.9
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
@@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.maxLateralAccel = 1.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677
@@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.maxLateralAccel = 0.8
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN:
@@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.maxLateralAccel = 1.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
@@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.maxLateralAccel = 1.3
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
@@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.maxLateralAccel = 1.4
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
selfdrive/car/hyundai/interface.py
-8
View File
@@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase):
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.maxLateralAccel = 3.2
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
@@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.maxLateralAccel = 2.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_LF:
@@ -80,7 +78,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.maxLateralAccel = 1.8
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.PALISADE:
@@ -89,7 +86,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
ret.maxLateralAccel = 2.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@@ -146,7 +142,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.maxLateralAccel = 3.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@@ -196,7 +191,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
tire_stiffness_factor = 0.385
ret.maxLateralAccel = 2.9
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate == CAR.KIA_NIRO_HEV:
@@ -228,7 +222,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.maxLateralAccel = 2.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_FORTE:
@@ -254,7 +247,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5
ret.maxLateralAccel = 2.1
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_EV6:
selfdrive/car/interfaces.py
+9 -1
View File
@@ -1,3 +1,4 @@
import json
import os
import time
from abc import abstractmethod, ABC
@@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
# generic car and radar interfaces
@@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0
ret.maxLateralAccel = float('nan')
ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
ret.steerLimitTimer = 1.0
return ret
@staticmethod
def get_torque_params(candidate, default=float('NaN')):
with open(TORQUE_PARAMS_PATH) as f:
data = json.load(f)
return {key: data[key].get(candidate, default) for key in data}
@abstractmethod
def _update(self, c: car.CarControl) -> car.CarState:
pass
selfdrive/car/subaru/interface.py
-2
View File
@@ -51,7 +51,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.maxLateralAccel = 1.3
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@@ -62,7 +61,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.maxLateralAccel = 3.2
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
selfdrive/car/tests/test_car_interfaces.py
+4 -1
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import math
import unittest
import importlib
from parameterized import parameterized
@@ -39,7 +40,9 @@ class TestCarInterfaces(unittest.TestCase):
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'torque':
self.assertTrue(car_params.lateralTuning.torque.kf > 0)
kf = car_params.lateralTuning.torque.kf
self.assertTrue(not math.isnan(kf) and kf > 0)
self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
elif tuning == 'indi':
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
selfdrive/car/tests/test_docs.py
+6
View File
@@ -3,6 +3,7 @@ import unittest
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
from selfdrive.car.docs_definitions import Column, Star
class TestCarDocs(unittest.TestCase):
@@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase):
if "rav4" in tokens:
self.assertIn("RAV4", car.model, "Use correct capitalization")
def test_torque_star(self):
for car in self.all_cars:
if car.car_name == "honda":
self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
if __name__ == "__main__":
unittest.main()
selfdrive/car/torque_data.json
+1
View File
File diff suppressed because one or more lines are too long
selfdrive/car/toyota/interface.py
-12
View File
@@ -74,7 +74,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.maxLateralAccel = 1.4
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.CHR, CAR.CHRH):
@@ -83,7 +82,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 1.3
set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@@ -96,7 +94,6 @@ class CarInterface(CarInterfaceBase):
ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
else:
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@@ -105,7 +102,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -114,7 +110,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.maxLateralAccel = 1.8
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@@ -125,7 +120,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.maxLateralAccel = 1.6
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@@ -134,7 +128,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.maxLateralAccel = 2.5
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@@ -159,7 +152,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.maxLateralAccel = 2.2
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA:
@@ -168,7 +160,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 1.6
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@@ -192,7 +183,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2:
@@ -201,7 +191,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI:
@@ -210,7 +199,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
selfdrive/car/volkswagen/interface.py
-6
View File
@@ -64,17 +64,14 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
ret.maxLateralAccel = 1.4
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
ret.maxLateralAccel = 1.5
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
ret.maxLateralAccel = 1.2
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
@@ -95,7 +92,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
ret.maxLateralAccel = 1.1
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
@@ -113,7 +109,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
ret.maxLateralAccel = 1.7
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
@@ -122,7 +117,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG
ret.wheelbase = 2.68
ret.maxLateralAccel = 1.6
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
f301bdf52b271c8c4ef0f2bce3be9c8f90037652
935abbc21282e10572c9324382feba3fee2fe379