From 221bbfe95e49bc0f132a787b976d826f90f68c68 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Jul 2023 23:06:11 -0700 Subject: [PATCH] Toyota LTA: lower angle rate limits (#28847) * lower limits a bit (matches ford and less wind up since Toyota EPS limits to 2 m/s up) * revert down limits, up was too high --- selfdrive/car/toyota/values.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index aa5c8a40ed..f556d33f05 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -24,10 +24,10 @@ class CarControllerParams: # Lane Tracing Assist (LTA) control limits # Assuming a steering ratio of 13.7: - # Limit to ~2.5 m/s^3 up (9 deg/s), ~3.6 m/s^3 down (13 deg/s) at 75 mph - # Worst case, the low speed limits will allow 4.9 m/s^3 up and down (18 deg/s) at 75 mph, + # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph + # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph, # however the EPS has its own internal limits at all speeds which are less than that - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.18]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) def __init__(self, CP):