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small cleanups

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pull/33601/head
Jason Young 8 months ago
parent c72d03a481
commit b81f0caf62
1 changed files with 6 additions and 6 deletions
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  1. 12
      docs/car-porting/support-guidelines.md

12
docs/car-porting/support-guidelines.md
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@ -85,9 +85,9 @@ at shop.comma.ai. They are all actively maintained, with full CI testing.
* Lateral API fault signals must be populated in CarState, must alert on loss of control * Lateral API fault signals must be populated in CarState, must alert on loss of control
* If the car's API is torque based, use the lat accel torque controller unless justified not to * If the car's API is torque based, use the lat accel torque controller unless justified not to
* Lateral control operates within safe limits * Lateral control operates within safe limits
* 2.5 m/s/s lateral accel for torque * 2.5 m/s/s lateral accel for torque control
* XXX what are steering angle control limits? * TODO: what are the steering angle control limits?
* XXX what are curvature control limits? * TODO: what are the curvature control limits?
* Handles variability in actuator performance between cars (see HKG) * Handles variability in actuator performance between cars (see HKG)
* Driver override is handled correctly and safely * Driver override is handled correctly and safely
* openpilot should detect driver input and back off * openpilot should detect driver input and back off
@ -101,8 +101,8 @@ at shop.comma.ai. They are all actively maintained, with full CI testing.
* Maximum actuation limits don't exceed comma safety guidelines * Maximum actuation limits don't exceed comma safety guidelines
* Good driving plan conformance, check with PlotJuggler * Good driving plan conformance, check with PlotJuggler
* Test lane changes on both flat and road crown boundaries * Test lane changes on both flat and road crown boundaries
* XXX Test std dev? * TODO: Can we test std dev between desired and actual?
* XXX Test cost with algorithm from controls challenge? * TODO: Can we test cost with the algorithm from the controls challenge?
* Reasonable steerActuatorDelay, check with PlotJuggler * Reasonable steerActuatorDelay, check with PlotJuggler
* Reasonable wheel touch threshold (DM, lane change) * Reasonable wheel touch threshold (DM, lane change)
* Sane learned value for tire stiffness, CarParams startup value is set similarly * Sane learned value for tire stiffness, CarParams startup value is set similarly
@ -183,7 +183,7 @@ Applies to both stock and openpilot longitudinal control.
* openpilot longitudinal control * openpilot longitudinal control
* Radar points * Radar points
* BSM * BSM
* Verify both normal and warning states if applicable * Verify both presence/not-blinking and warning/blinking states
* FCW/AEB * FCW/AEB
* Detect activation of stock FCW/AEB (may be a good application for comma car dataset) * Detect activation of stock FCW/AEB (may be a good application for comma car dataset)
* Signals for FCW/AEB actuation (this is still in development, extreme care required) * Signals for FCW/AEB actuation (this is still in development, extreme care required)

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