diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index bb996e5885..3b259c6222 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -3,6 +3,34 @@ from common.numpy_fast import clip # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. + +# FIXME: hardcoding honda civic 2016 touring params so they can be used to +# scale unknown params for other cars +class CivicParams: + MASS = 1326. + STD_CARGO_KG + WHEELBASE = 2.70 + CENTER_TO_FRONT = WHEELBASE * 0.4 + CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT + ROTATIONAL_INERTIA = 2500 + TIRE_STIFFNESS_FRONT = 192150 + TIRE_STIFFNESS_REAR = 202500 + +# TODO: get actual value, for now starting with reasonable value for +# civic and scaling by mass and wheelbase +def scale_rot_inertia(mass, wheelbase): + return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2) + +# TODO: start from empirically derived lateral slip stiffness for the civic and scale by +# mass and CG position, so all cars will have approximately similar dyn behaviors +def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0): + center_to_rear = wheelbase - center_to_front + tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \ + (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE) + + tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \ + (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE) + + return tire_stiffness_front, tire_stiffness_rear def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None): return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc} diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 6621c7e20f..793f732084 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness class CarInterface(object): @@ -51,16 +51,6 @@ class CarInterface(object): # pedal ret.enableCruise = True - # FIXME: hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 85400 * 2.0 - tireStiffnessRear_civic = 90000 * 2.0 - # Speed conversion: 20, 45 mph ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 @@ -85,20 +75,13 @@ class CarInterface(object): ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. # TODO allow 2019 cars to steer down to 13 m/s if already engaged. - centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = tireStiffnessFront_civic * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = tireStiffnessRear_civic * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7664d99640..0f3bbc33cc 100755 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -7,7 +7,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.ford.carstate import CarState, get_can_parser from selfdrive.car.ford.values import MAX_ANGLE -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness class CarInterface(object): @@ -51,16 +51,6 @@ class CarInterface(object): # pedal ret.enableCruise = True - # FIXME: hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 85400 - tireStiffnessRear_civic = 90000 - ret.wheelbase = 2.85 ret.steerRatio = 14.8 ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG @@ -69,32 +59,21 @@ class CarInterface(object): ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerRateCost = 1.0 - - f = 1.2 - tireStiffnessFront_civic *= f - tireStiffnessRear_civic *= f - ret.centerToFront = ret.wheelbase * 0.44 - + tire_stiffness_factor = 0.5328 # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. - centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = tireStiffnessFront_civic * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = tireStiffnessRear_civic * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 4a909bc844..c066a6523f 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -7,7 +7,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \ SUPERCRUISE_CARS, AccState from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness class CanBus(object): @@ -60,6 +60,7 @@ class CarInterface(object): # or camera is on powertrain bus (LKA cars without ACC). ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint) ret.openpilotLongitudinalControl = ret.enableCamera + tire_stiffness_factor = 0.444 # not optimized yet if candidate == CAR.VOLT: # supports stop and go, but initial engage must be above 18mph (which include conservatism) @@ -129,30 +130,14 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.465 - # hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 85400 - tireStiffnessRear_civic = 90000 - - centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = tireStiffnessFront_civic * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = tireStiffnessRear_civic * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) # same tuning for Volt and CT6 for now ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 72c85c862c..93aaf0182b 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -10,7 +10,7 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING) @@ -152,16 +152,6 @@ class CarInterface(object): ret.enableCruise = not ret.enableGasInterceptor - # FIXME: hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 192150 - tireStiffnessRear_civic = 202500 - # Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle # model optimization process. Certain Hondas have an extra steering sensor at the bottom # of the steering rack, which improves controls quality as it removes the steering column @@ -174,9 +164,9 @@ class CarInterface(object): if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]: stop_and_go = True - ret.mass = mass_civic - ret.wheelbase = wheelbase_civic - ret.centerToFront = centerToFront_civic + ret.mass = CivicParams.MASS + ret.wheelbase = CivicParams.WHEELBASE + ret.centerToFront = CivicParams.CENTER_TO_FRONT ret.steerRatio = 14.63 # 10.93 is end-to-end spec tire_stiffness_factor = 1. # Civic at comma has modified steering FW, so different tuning for the Neo in that car @@ -334,20 +324,14 @@ class CarInterface(object): # conflict with PCM acc ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS - centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index bd99eaa5ac..67ca2261ff 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness class CarInterface(object): @@ -51,19 +51,9 @@ class CarInterface(object): ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.enableCruise = True # stock acc - # FIXME: hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 192150 - tireStiffnessRear_civic = 202500 - tire_stiffness_factor = 1. - ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 + tire_stiffness_factor = 1. if candidate == CAR.SANTA_FE: ret.lateralTuning.pid.kf = 0.00005 @@ -129,21 +119,14 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.4 - centerToRear = ret.wheelbase - ret.centerToFront - # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index a609ee9092..e9d9c117fc 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.subaru.values import CAR from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness class CarInterface(object): @@ -58,7 +58,6 @@ class CarInterface(object): ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15 - tire_stiffness_factor = 1.0 ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] @@ -84,30 +83,13 @@ class CarInterface(object): # end from gm - # hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 192150 - tireStiffnessRear_civic = 202500 - centerToRear = ret.wheelbase - ret.centerToFront - # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 83bf921d95..a1cffae959 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -6,7 +6,7 @@ from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR -from selfdrive.car import STD_CARGO_KG +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness from selfdrive.swaglog import cloudlog @@ -54,16 +54,6 @@ class CarInterface(object): # pedal ret.enableCruise = not ret.enableGasInterceptor - # FIXME: hardcoding honda civic 2016 touring params so they can be used to - # scale unknown params for other cars - mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG - wheelbase_civic = 2.70 - centerToFront_civic = wheelbase_civic * 0.4 - centerToRear_civic = wheelbase_civic - centerToFront_civic - rotationalInertia_civic = 2500 - tireStiffnessFront_civic = 192150 - tireStiffnessRear_civic = 202500 - ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay if candidate != CAR.PRIUS: ret.lateralTuning.init('pid') @@ -100,7 +90,7 @@ class CarInterface(object): ret.safetyParam = 100 ret.wheelbase = 2.70 ret.steerRatio = 17.8 - tire_stiffness_factor = 0.444 + tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 @@ -140,7 +130,7 @@ class CarInterface(object): ret.safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 - tire_stiffness_factor = 0.444 # not optimized yet + tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] ret.lateralTuning.pid.kf = 0.00006 @@ -170,7 +160,7 @@ class CarInterface(object): ret.safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.9 - tire_stiffness_factor = 0.444 + tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 @@ -179,8 +169,8 @@ class CarInterface(object): stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.8702 - ret.steerRatio = 16.0 #not optimized - tire_stiffness_factor = 0.444 + ret.steerRatio = 16.0 # not optimized + tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 @@ -195,20 +185,14 @@ class CarInterface(object): # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS - centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase - ret.rotationalInertia = rotationalInertia_civic * \ - ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) - ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ - ret.mass / mass_civic * \ - (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, + tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0.