Honda Fit Tune (#20094)

This commit lowers the kp and ki values for lateral tuning. This fixes the wheel shake, greatly increases straight line performance, and produces more human like driving on long curves.
5 years ago · 4c2efb4e7e
parent dfa8649b6e
commit 4c2efb4e7e
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -286,7 +286,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.75
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]