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! old-commit-hash: e0ba222336
5 years ago · eb6cf6ffd9
parent 02ad0e743e
commit eb6cf6ffd9
1 changed files with 2 additions and 2 deletions
--- 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: