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Vehicles - Toyota - Longitudinal Tune - DragonPilot

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Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-10 23:59:16 -07:00
parent 3642711e70
commit 5758d7045d
1 changed files with 14 additions and 0 deletions
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14
selfdrive/car/toyota/interface.py
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@ -154,6 +154,20 @@ class CarInterface(CarInterfaceBase):
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
# Credit goes to the DragonPilot team!
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [0., .03, .06, .15]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
# In MPH = [ 0, 27, 45, 60, 89]
tune.kiBP = [ 0., 12., 20., 27., 40.]
tune.kiV = [.35, .215, .195, .10, .01]
if candidate in TSS2_CAR:
ret.vEgoStopping = 0.1 # car is near 0.1 to 0.2 when car starts requesting stopping accel
ret.vEgoStarting = 0.1 # needs to be > or == vEgoStopping
ret.stopAccel = -0.40 # Toyota requests -0.4 when stopped
ret.stoppingDecelRate = 0.5 # reach stopping target smoothly
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]