From e0ba222336f28dcac0e43e17355eef334799bd7c Mon Sep 17 00:00:00 2001 From: vetmiker Date: Mon, 30 Mar 2020 18:19:24 -0500 Subject: [PATCH] Smooth out Sienna tuning (#1292) Current Sienna tuning leads to pretty significant bouncing and oversteering, this change fixes it. Thanks to @Jax for finding some great values and checking with a Toyota mechanic on the real steer ratio for Siennas! --- selfdrive/car/toyota/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6f6f31cf7e..a6bea00f6a 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -195,10 +195,10 @@ class CarInterface(CarInterfaceBase): stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 3.03 - ret.steerRatio = 16.0 + ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_IS: