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Move couple toyotas to torque table values #24849

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Merged
haraschax merged 4 commits into from
Jun 14, 2022
Merged

Move couple toyotas to torque table values #24849

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0010d14
Move couple toyotas to torque table values
haraschax Jun 13, 2022
4e024a3
Dont set for all cars yet
haraschax Jun 13, 2022
f425c2d
Dont regress docs
haraschax Jun 13, 2022
a6b510b
update ref
haraschax Jun 14, 2022
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24 changes: 12 additions & 12 deletions selfdrive/car/toyota/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
Expand Down Expand Up @@ -32,41 +33,44 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl

stop_and_go = False
torque_params = CarInterfaceBase.get_torque_params(candidate)
steering_angle_deadzone_deg = 0.0
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)

if candidate == CAR.PRIUS:
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 1.7
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06, steering_angle_deadzone_deg=1.0)
# Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
steering_angle_deadzone_deg = 1.0
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)

elif candidate == CAR.PRIUS_V:
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
# TODO override until there is enough data
ret.maxLateralAccel = 1.8
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)

elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.maxLateralAccel = 1.8
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)

elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.maxLateralAccel = 2.8
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)

elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True
Expand All @@ -91,9 +95,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
else:
if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
Expand Down Expand Up @@ -143,8 +145,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)

elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
123506cad1877e93bfe5c91ecdce654ef339959b
fe2da24194e3def1823681cc18e7879f24edfc6e