From 9c26b70a43a1ce530e12027a65ffdb3eca37cc33 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 18 Oct 2022 21:25:06 -0700 Subject: [PATCH] Partial revert, lax torque control (#26146) * Closer to original * Update ref old-commit-hash: 1548db8962c2555b53843ec361453ece7abdbc16 --- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 7d656b55a9..51676086ba 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # friction in the steering wheel that needs to be overcome to # move it at all, this is compensated for too. -LOW_SPEED_FACTOR = 100 +LOW_SPEED_FACTOR = 200 class LatControlTorque(LatControl): diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 9fbfd4a11f..29137defd3 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05 # TODO this cost should be lowered when low # speed lateral control is stable on all cars STEERING_RATE_COST = 800.0 - -MIN_SPEED = .3 +MIN_SPEED = 1.5 class LateralPlanner: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 998bf4e756..0b4081595b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file +1c1287691cbdd866d9e435d5d27f59f6a027d270