Torque control: higher low speed gains and better steering angle deadzone logic (#24980)

* Try no friction and no deadzone

* Learn fromd ata

* update refs
old-commit-hash: b3226d505b
taco
HaraldSchafer 3 years ago committed by GitHub
parent 99d1c8f131
commit 2d945b2fd5
  1. 6
      selfdrive/controls/lib/latcontrol_torque.py
  2. 2
      selfdrive/test/process_replay/ref_commit

@ -56,15 +56,15 @@ class LatControlTorque(LatControl):
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
error = setpoint - measurement
pid_log.error = error
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
# convert friction into lateral accel units for feedforward
friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
ff += friction_compensation / self.kf
freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(error,

@ -1 +1 @@
b55de9fdb2416e63ab554c95233a78219d8d3db9
a16ca1082cd493f6cea5252eaaba9f8c6574334a

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