Longitudinal tune for Corolla TSS2 (#2746)

old-commit-hash: 745b91ee57

selfdrive/car/toyota/interface.py

@@ -208,7 +208,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
-      ret.minSpeedCan = 0.375
       ret.safetyParam = 73
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
@@ -216,6 +215,16 @@ class CarInterface(CarInterfaceBase):
       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
+      # Longitudinal tune
+      ret.longitudinalTuning.deadzoneBP = [0., 8.05]
+      ret.longitudinalTuning.deadzoneV = [.0, .14]
+      ret.longitudinalTuning.kpBP = [0., 5., 20.]
+      ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
+      ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
+      ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
+      ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
+      ret.startingBrakeRate = 2.0 # release brakes fast
+      ret.startAccel = 1.2 # Accelerate from 0 faster
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True