Move all CarControllerParams into values.py (#19663)

* toyota

* use scale from values.py

* nissan

* subaru

* honda

* gm

* toyota combine into CarControllerParams

* nissan refactor

* chrysler refactor

* mazda refactor

* hyundai refactor

* subaru refactor

selfdrive/car/chrysler/carcontroller.py

@@ -1,7 +1,7 @@
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
                                                create_wheel_buttons
-from selfdrive.car.chrysler.values import CAR, SteerLimitParams
+from selfdrive.car.chrysler.values import CAR, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 class CarController():
@@ -24,9 +24,9 @@ class CarController():
 
     # *** compute control surfaces ***
     # steer torque
-    new_steer = actuators.steer * SteerLimitParams.STEER_MAX
+    new_steer = actuators.steer * CarControllerParams.STEER_MAX
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, SteerLimitParams)
+                                                   CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
     moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message

selfdrive/car/chrysler/values.py

@@ -4,7 +4,7 @@ from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
-class SteerLimitParams:
+class CarControllerParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
   STEER_DELTA_DOWN = 3    # no faults on the way down it seems

selfdrive/car/gm/carcontroller.py

@@ -4,40 +4,12 @@ from common.numpy_fast import interp
 from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarControllerParams():
-  def __init__(self):
-    self.STEER_MAX = 300
-    self.STEER_STEP = 2              # how often we update the steer cmd
-    self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
-    self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
-    self.MIN_STEER_SPEED = 3.
-    self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 100     # from dbc
-    self.NEAR_STOP_BRAKE_PHASE = 0.5  # m/s, more aggressive braking near full stop
-
-    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
-    # dashboard messages.
-    self.ADAS_KEEPALIVE_STEP = 100
-    self.CAMERA_KEEPALIVE_STEP = 100
-
-    # pedal lookups, only for Volt
-    MAX_GAS = 3072              # Only a safety limit
-    ZERO_GAS = 2048
-    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
-    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
-    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-    self.BRAKE_LOOKUP_BP = [-1., -0.25]
-    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
-
-
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.start_time = 0.

selfdrive/car/gm/values.py

@@ -4,6 +4,33 @@ from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
+class CarControllerParams():
+  def __init__(self):
+    self.STEER_MAX = 300
+    self.STEER_STEP = 2              # how often we update the steer cmd
+    self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
+    self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
+    self.MIN_STEER_SPEED = 3.
+    self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
+    self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
+    self.STEER_DRIVER_FACTOR = 100     # from dbc
+    self.NEAR_STOP_BRAKE_PHASE = 0.5  # m/s, more aggressive braking near full stop
+
+    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
+    # dashboard messages.
+    self.ADAS_KEEPALIVE_STEP = 100
+    self.CAMERA_KEEPALIVE_STEP = 100
+
+    # pedal lookups, only for Volt
+    MAX_GAS = 3072              # Only a safety limit
+    ZERO_GAS = 2048
+    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
+    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
+    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+    self.BRAKE_LOOKUP_BP = [-1., -0.25]
+    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
+
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"

selfdrive/car/honda/carcontroller.py

@@ -5,7 +5,7 @@ from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip, interp
 from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD, HONDA_BOSCH
+from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -74,15 +74,6 @@ HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise",  "car",
                      "lanes", "fcw", "acc_alert", "steer_required"])
 
-class CarControllerParams():
-  def __init__(self, CP):
-      self.BRAKE_MAX = 1024//4
-      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-      # mirror of list (assuming first item is zero) for interp of signed request values
-      assert(CP.lateralParams.torqueBP[0] == 0)
-      assert(CP.lateralParams.torqueBP[0] == 0)
-      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):

selfdrive/car/honda/values.py

@@ -6,6 +6,16 @@ from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+class CarControllerParams():
+  def __init__(self, CP):
+      self.BRAKE_MAX = 1024//4
+      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
+      # mirror of list (assuming first item is zero) for interp of signed request values
+      assert(CP.lateralParams.torqueBP[0] == 0)
+      assert(CP.lateralParams.torqueBP[0] == 0)
+      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
+      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+
 # Car button codes
 class CruiseButtons:
   RES_ACCEL = 4
@@ -441,7 +451,7 @@ FW_VERSIONS = {
       b'37805-5AN-AK20\x00\x00',
       b'37805-5AN-AR20\x00\x00',
       b'37805-5AN-CH20\x00\x00',
-      b'37805-5AN-L840\x00\x00',     
+      b'37805-5AN-L840\x00\x00',
       b'37805-5AN-L940\x00\x00',
       b'37805-5AN-LF20\x00\x00',
       b'37805-5AN-LH20\x00\x00',
@@ -1020,7 +1030,7 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-T3R-A120\x00\x00',
     ],
-  },  
+  },
 }
 
 DBC = {

selfdrive/car/hyundai/carcontroller.py

@@ -2,7 +2,7 @@ from cereal import car
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
-from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -34,7 +34,7 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
-    self.p = SteerLimitParams(CP)
+    self.p = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
 
     self.apply_steer_last = 0

selfdrive/car/hyundai/values.py

@@ -5,7 +5,7 @@ from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
 # Steer torque limits
-class SteerLimitParams:
+class CarControllerParams:
   def __init__(self, CP):
     if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020]:
       self.STEER_MAX = 384
@@ -123,7 +123,7 @@ FINGERPRINTS = {
   }],
   CAR.IONIQ_EV_2020: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],  
+  }],
   CAR.IONIQ_EV_LTD: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1507: 8, 1535: 8
   }],

selfdrive/car/mazda/carcontroller.py

@@ -1,5 +1,5 @@
 from selfdrive.car.mazda import mazdacan
-from selfdrive.car.mazda.values import SteerLimitParams, Buttons
+from selfdrive.car.mazda.values import CarControllerParams, Buttons
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 
@@ -18,9 +18,9 @@ class CarController():
 
     if enabled:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
+      new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                  CS.out.steeringTorque, SteerLimitParams)
+                                                  CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
       if CS.out.standstill and frame % 20 == 0:

selfdrive/car/mazda/values.py

@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
 
 # Steer torque limits
 
-class SteerLimitParams:
+class CarControllerParams:
   STEER_MAX = 600                 # max_steer 2048
   STEER_STEP = 1                  # how often we update the steer cmd
   STEER_DELTA_UP = 10             # torque increase per refresh

selfdrive/car/nissan/carcontroller.py

@@ -2,13 +2,8 @@ from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
-from selfdrive.car.nissan.values import CAR, STEER_THRESHOLD
+from selfdrive.car.nissan.values import CAR, CarControllerParams
 
-# Steer angle limits
-ANGLE_DELTA_BP = [0., 5., 15.]
-ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
-LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -41,22 +36,22 @@ class CarController():
     if enabled:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
+        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
       else:
-        angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
+        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
 
       apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
 
       # Max torque from driver before EPS will give up and not apply torque
       if not bool(CS.out.steeringPressed):
-        self.lkas_max_torque = LKAS_MAX_TORQUE
+        self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
       else:
         # Scale max torque based on how much torque the driver is applying to the wheel
         self.lkas_max_torque = max(
           # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
-          LKAS_MAX_TORQUE * 0.5,
+          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
           # Start scaling torque at STEER_THRESHOLD
-          LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - STEER_THRESHOLD)
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
         )
 
     else:

selfdrive/car/nissan/carstate.py

@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.config import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.nissan.values import CAR, DBC, STEER_THRESHOLD
+from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
 TORQUE_SAMPLES = 12
 
@@ -65,7 +65,7 @@ class CarState(CarStateBase):
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     self.steeringTorqueSamples.append(ret.steeringTorque)
     # Filtering driver torque to prevent steeringPressed false positives
-    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > STEER_THRESHOLD)
+    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
 
     ret.steeringAngle = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
 

selfdrive/car/nissan/values.py

@@ -2,7 +2,13 @@
 
 from selfdrive.car import dbc_dict
 
-STEER_THRESHOLD = 1.0
+
+class CarControllerParams:
+  ANGLE_DELTA_BP = [0., 5., 15.]
+  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
+  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
+  STEER_THRESHOLD = 1.0
 
 class CAR:
   XTRAIL = "NISSAN X-TRAIL 2017"

selfdrive/car/subaru/carcontroller.py

@@ -1,20 +1,9 @@
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 
-class CarControllerParams():
-  def __init__(self):
-    self.STEER_MAX = 2047              # max_steer 4095
-    self.STEER_STEP = 2                # how often we update the steer cmd
-    self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
-    self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
-    self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1       # from dbc
-
-
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
@@ -24,7 +13,6 @@ class CarController():
     self.fake_button_prev = 0
     self.steer_rate_limited = False
 
-    self.params = CarControllerParams()
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
@@ -32,23 +20,23 @@ class CarController():
     can_sends = []
 
     # *** steering ***
-    if (frame % self.params.STEER_STEP) == 0:
+    if (frame % CarControllerParams.STEER_STEP) == 0:
 
-      apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
+      apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
 
       # limits due to driver torque
 
       new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
       if not enabled:
         apply_steer = 0
 
       if CS.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 

selfdrive/car/subaru/values.py

@@ -4,6 +4,15 @@ from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+class CarControllerParams:
+  STEER_MAX = 2047              # max_steer 4095
+  STEER_STEP = 2                # how often we update the steer cmd
+  STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
+  STEER_DELTA_DOWN = 70         # torque decrease per refresh
+  STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
+  STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1       # from dbc
+
 class CAR:
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"

selfdrive/car/toyota/carcontroller.py

@@ -4,16 +4,11 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command
-from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, SteerLimitParams
+from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, CarControllerParams
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-# Accel limits
-ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
-ACCEL_MAX = 1.5  # 1.5 m/s2
-ACCEL_MIN = -3.0  # 3   m/s2
-ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
 def accel_hysteresis(accel, accel_steady, enabled):
 
@@ -21,10 +16,10 @@ def accel_hysteresis(accel, accel_steady, enabled):
   if not enabled:
     # send 0 when disabled, otherwise acc faults
     accel_steady = 0.
-  elif accel > accel_steady + ACCEL_HYST_GAP:
+  elif accel > accel_steady + CarControllerParams.ACCEL_HYST_GAP:
-    accel_steady = accel - ACCEL_HYST_GAP
+    accel_steady = accel - CarControllerParams.ACCEL_HYST_GAP
-  elif accel < accel_steady - ACCEL_HYST_GAP:
+  elif accel < accel_steady - CarControllerParams.ACCEL_HYST_GAP:
-    accel_steady = accel + ACCEL_HYST_GAP
+    accel_steady = accel + CarControllerParams.ACCEL_HYST_GAP
   accel = accel_steady
 
   return accel, accel_steady
@@ -65,11 +60,11 @@ class CarController():
       apply_accel = actuators.gas - actuators.brake
 
     apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
-    apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
+    apply_accel = clip(apply_accel * CarControllerParams.ACCEL_SCALE, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
     # steer torque
-    new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
+    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, SteerLimitParams)
+    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
     # Cut steering while we're in a known fault state (2s)

selfdrive/car/toyota/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS
+from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -12,7 +12,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def compute_gb(accel, speed):
-    return float(accel) / 3.0
+    return float(accel) / CarControllerParams.ACCEL_SCALE
 
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value

selfdrive/car/toyota/values.py

@@ -4,8 +4,12 @@ from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
-# Steer torque limits
+class CarControllerParams:
-class SteerLimitParams:
+  ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
+  ACCEL_MAX = 1.5  # 1.5 m/s2
+  ACCEL_MIN = -3.0  # 3   m/s2
+  ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
+
   STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
@@ -484,7 +488,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 109): [
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
-  },  
+  },
   CAR.CHR: {
     (Ecu.engine, 0x700, None): [
       b'\x01896631017100\x00\x00\x00\x00',

selfdrive/controls/lib/latcontrol_indi.py

@@ -4,7 +4,7 @@ import numpy as np
 from cereal import log
 from common.realtime import DT_CTRL
 from common.numpy_fast import clip
-from selfdrive.car.toyota.values import SteerLimitParams
+from selfdrive.car.toyota.values import CarControllerParams
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 
@@ -97,10 +97,10 @@ class LatControlINDI():
 
       # Enforce rate limit
       if self.enforce_rate_limit:
-        steer_max = float(SteerLimitParams.STEER_MAX)
+        steer_max = float(CarControllerParams.STEER_MAX)
         new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
         prev_output_steer_cmd = steer_max * self.output_steer
-        new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, SteerLimitParams)
+        new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, CarControllerParams)
         self.output_steer = new_output_steer_cmd / steer_max
       else:
         self.output_steer = self.delayed_output + delta_u