From 3c55f49dd8ac74db9b64adc4c24536aa46dc8128 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Apr 2023 23:27:49 -0700 Subject: [PATCH] Ford: simple rate limits (#27446) * simple limits * add script * useless * remove script * cleanup comments * bump curvature limits * divide by 20 * add comment * add panda safety * add back notebook with multi route support * remove * bump up low speed up * comment --- selfdrive/car/ford/values.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 4bd93b266b..c3652443c2 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -27,10 +27,11 @@ class CarControllerParams: STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits - # TODO: unify field names used by curvature and angle control cars - # ~2 m/s^3 up, ~-3 m/s^3 down - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) + # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction + # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph + # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration