docs: adjust steering torque threshold

selfdrive/car/CARS_template.md

@@ -28,7 +28,8 @@ How We Rate The Cars
 - {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds.
 
 ### Steering Torque
-- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving.
+- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque to take tighter turns.
+- {{star_icon.format(Star.HALF.value)}} - Car has enough steering torque for comfortable highway driving.
 - {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns.
 
 ### Actively Maintained
@@ -38,7 +39,7 @@ How We Rate The Cars
 **All supported cars can move between the tiers as support changes.**
 
 {% for tier, cars in tiers.items() %}
-## {{tier.name.title()}} Cars
+# {{tier.name.title()}} - {{cars | length}} cars
 
 |{{Column | map(attribute='value') | join('|')}}|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|

selfdrive/car/docs_definitions.py

@@ -6,7 +6,9 @@
 from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check
 
-STEERING_TORQUE_THRESHOLD = 2.0  # m/s^2
+TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
+GREAT_TORQUE_THRESHOLD = 1.5  # m/s^2
+GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 
 
 class Tier(Enum):
@@ -70,33 +72,34 @@ def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dic
     if self.min_enable_speed is not None:
       min_enable_speed = self.min_enable_speed
 
-    # TODO: remove hardcoded good torque and just use maxLateralAccel
-    good_torque = self.good_torque
-    if not math.isnan(CP.maxLateralAccel):
-      good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
-
     self.car_name = CP.carName
     self.make, self.model = self.name.split(' ', 1)
     self.row = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
       # StarColumns
-      Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
-      Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
-      Column.FSR_STEERING: min_steer_speed <= 0.,
-      Column.STEERING_TORQUE: good_torque,
-      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
+      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
+      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
+      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
+    if not math.isnan(CP.maxLateralAccel):
+      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.FULL
+      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.HALF
+      else:
+        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+
     if CP.notCar:
       for col in StarColumns:
-        self.row[col] = True
+        self.row[col] = Star.FULL
 
     self.all_footnotes = all_footnotes
     for column in StarColumns:
-      self.row[column] = Star.FULL if self.row[column] else Star.EMPTY
-
       # Demote if footnote specifies a star
       footnote = get_footnote(self.footnotes, column)
       if footnote is not None and footnote.value.star is not None:

selfdrive/car/honda/interface.py

@@ -100,7 +100,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         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 = 1.7
+        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.
@@ -245,7 +245,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       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 = 1.5
+      ret.maxLateralAccel = 0.8
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:

selfdrive/car/toyota/values.py

@@ -93,9 +93,6 @@ class Footnote(Enum):
   CAMRY = CarFootnote(
     "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
-  ANGLE_SENSOR = CarFootnote(
-    "An inaccurate steering wheel angle sensor makes precise control difficult.",
-    Column.STEERING_TORQUE, star=Star.HALF)
 
 
 @dataclass
@@ -133,10 +130,10 @@ class ToyotaCarInfo(CarInfo):
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
-    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
   CAR.PRIUS_TSS2: [
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0e18bb3317437f2cad6d0a5782a9222eda655d58
+f301bdf52b271c8c4ef0f2bce3be9c8f90037652