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Toyota LTA: lower angle rate limits (#28847)

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* 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
pull/26381/head^2
Shane Smiskol 2 years ago committed by GitHub
parent bde531d0bc
commit 221bbfe95e
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1 changed files with 3 additions and 3 deletions
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  1. 6
      selfdrive/car/toyota/values.py

6
selfdrive/car/toyota/values.py
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@ -24,10 +24,10 @@ class CarControllerParams:
# Lane Tracing Assist (LTA) control limits # Lane Tracing Assist (LTA) control limits
# Assuming a steering ratio of 13.7: # 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 # 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 4.9 m/s^3 up and down (18 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 # 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]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
def __init__(self, CP): def __init__(self, CP):

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