From fdbf1c5938b70a9fa389cb6a117f123b6cbf5a2e Mon Sep 17 00:00:00 2001 From: kegman Date: Wed, 31 Oct 2018 14:09:48 -0400 Subject: [PATCH] Honda Pilot tuning / lane centering fixes (#408) Tuned kP and kI and Tire Stiffness Factor settings. Fixes lane centering issues in the following situations: 1. Hugging of left lane line during fast left curving roads 2. Hugging of right lane line during fast right curving roads 3. Left bias in fast lane on crowned roads (sloping down to the left) 4. Right bias in slow lane on crowned roads (sloping down to the right) Works better when lane_width = 2.85 (vs 3.7 default) in pathplanner.py --- selfdrive/car/honda/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 42eb041f3f..3098f3768f 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -294,8 +294,8 @@ class CarInterface(object): ret.wheelbase = 2.81 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # as spec - tire_stiffness_factor = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.38], [0.11]] + tire_stiffness_factor = 0.82 + ret.steerKpV, ret.steerKiV = [[0.5], [0.22]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.]