From 3a4f19f0ee454a9c8d7c55d66e794ef20c4b4f01 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 29 Nov 2022 12:46:08 -0800 Subject: [PATCH] [controlsd] Refactor apply_deadzone in Lateral Torque Control (#26626) rename apply_slack to apply_center_deadzone, remove unused prius offline values --- selfdrive/car/interfaces.py | 4 ++-- selfdrive/car/torque_data/params.yaml | 1 - selfdrive/controls/lib/drive_helpers.py | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e03f1cfada..e062e783e5 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -11,7 +11,7 @@ from common.kalman.simple_kalman import KF1D from common.numpy_fast import interp from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -127,7 +127,7 @@ class CarInterfaceBase(ABC): def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( - apply_slack(lateral_accel_error, lateral_accel_deadzone), + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-torque_params.friction, torque_params.friction] ) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index b4dbaf8564..124cf3d3b9 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -78,7 +78,6 @@ TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] -TOYOTA PRIUS 2017 x060: [1.746445, 1.5023147650693636, 0.17] TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822] diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index acef4bee8e..3d5ec8ac1d 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -149,7 +149,7 @@ def apply_deadzone(error, deadzone): return error -def apply_slack(error, deadzone): +def apply_center_deadzone(error, deadzone): if (error > - deadzone) and (error < deadzone): error = 0. return error