Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

New tune for Honda Pilot, Corolla, and slightly closer stock following distance #43

Merged
merged 3 commits into from
Jan 24, 2020
Merged

New tune for Honda Pilot, Corolla, and slightly closer stock following distance #43

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
095634a
approx 10% higher gas at lower speeds for honda pilot pedal
sshane Jan 24, 2020
06b76ea
testing higher corolla pedal gas tune. raise maximum accel limits in …
sshane Jan 24, 2020
07e8abc
dynamic follow - closer stock distances above 23m/s
sshane Jan 24, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 9 additions & 5 deletions selfdrive/controls/lib/dynamic_gas.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,20 @@ def __init__(self, CP, candidate):

def update(self, v_ego, lead_data, mpc_TR):
x, y = [], [] # gasMaxBP, gasMaxV
if self.CP.enableGasInterceptor: # todo: make different profiles for different vehicles
if self.CP.enableGasInterceptor:
if self.candidate == CAR_TOYOTA.COROLLA:
x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.35, 0.368, 0.377, 0.389, 0.399, 0.411, 0.45, 0.504, 0.558, 0.617]
# x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326] # stock tune
# y = [0.2, 0.20443, 0.21592, 0.23334, 0.25734, 0.27916, 0.3229, 0.35, 0.368, 0.377, 0.389, 0.399, 0.411, 0.45, 0.504, 0.558, 0.617]
# x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 8.2831, 10.2446, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7102, 35.7633] # todo: test higher only at low speeds
# y = [0.221, 0.225, 0.236, 0.253, 0.275, 0.296, 0.338, 0.363, 0.38, 0.389, 0.4, 0.41, 0.421, 0.458, 0.51, 0.561, 0.617]
x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 8.2831, 10.2446, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7102, 35.7633] # now testing higher all around
y = [0.229, 0.233, 0.244, 0.261, 0.284, 0.305, 0.347, 0.373, 0.391, 0.399, 0.411, 0.421, 0.432, 0.47, 0.522, 0.574, 0.631]
elif self.candidate == CAR_TOYOTA.RAV4:
x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
y = [0.234, 0.237, 0.246, 0.26, 0.279, 0.297, 0.332, 0.354, 0.368, 0.377, 0.389, 0.399, 0.411, 0.45, 0.504, 0.558, 0.617]
elif self.candidate == CAR_HONDA.PILOT_2019:
x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326]
y = [0.234, 0.237, 0.246, 0.26, 0.279, 0.297, 0.332, 0.354, 0.368, 0.377, 0.389, 0.399, 0.411, 0.45, 0.504, 0.558, 0.617]
x = [0.0, 1.4082, 2.8031, 4.2266, 5.3827, 6.1656, 7.2478, 8.2831, 10.2446, 12.964, 15.423, 18.119, 20.117, 24.4661, 29.058, 32.7102, 35.7633]
y = [0.272, 0.275, 0.283, 0.296, 0.313, 0.329, 0.36, 0.38, 0.393, 0.401, 0.412, 0.421, 0.432, 0.467, 0.515, 0.564, 0.617]
# else:
# if self.candidate in [CAR_TOYOTA.CAMRY, CAR_TOYOTA.CAMRYH]:
# x = [0.]
Expand Down
4 changes: 3 additions & 1 deletion selfdrive/controls/lib/long_mpc.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,10 @@ def lead_accel_over_time(self):
def dynamic_follow(self, CS):
# x_vel = [0.0, 1.8627, 3.7253, 5.588, 7.4507, 9.3133, 11.5598, 13.645, 22.352, 31.2928, 33.528, 35.7632, 40.2336] # velocities
# y_mod = [1.102, 1.12, 1.14, 1.168, 1.21, 1.273, 1.36, 1.411, 1.543, 1.62, 1.664, 1.736, 1.853] # TRs
# x_vel = [0.0, 1.8627, 3.7253, 5.588, 7.4507, 9.3133, 11.5598, 13.645, 22.352, 31.2928, 33.528, 35.7632, 40.2336]
# y_mod = [1.385, 1.394, 1.406, 1.421, 1.444, 1.474, 1.516, 1.538, 1.554, 1.604, 1.627, 1.658, 1.705]
x_vel = [0.0, 1.8627, 3.7253, 5.588, 7.4507, 9.3133, 11.5598, 13.645, 22.352, 31.2928, 33.528, 35.7632, 40.2336]
y_mod = [1.385, 1.394, 1.406, 1.421, 1.444, 1.474, 1.516, 1.538, 1.554, 1.604, 1.627, 1.658, 1.705]
y_mod = [1.385, 1.394, 1.406, 1.421, 1.444, 1.474, 1.516, 1.538, 1.554, 1.594, 1.612, 1.637, 1.675]

sng_TR = 1.8 # stop and go TR
sng_speed = 15.0 * CV.MPH_TO_MS
Expand Down
8 changes: 6 additions & 2 deletions selfdrive/controls/lib/planner.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,12 @@

# need fast accel at very low speed for stop and go
# make sure these accelerations are smaller than mpc limits
_A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
if travis:
_A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
else:
_A_CRUISE_MAX_V = [1.6, 1.4, 0.65, .4]
_A_CRUISE_MAX_V_FOLLOWING = [1.9, 1.9, 0.75, .6]
_A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]

# Lookup table for turns
Expand Down