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test angle control..

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This commit is contained in:
ajouatom 2025-02-13 09:28:21 +09:00
parent 79e126f7dd
commit daa465506d
1 changed files with 20 additions and 4 deletions
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24
opendbc_repo/opendbc/car/hyundai/carcontroller.py
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@ -128,10 +128,26 @@ class CarController(CarControllerBase):
error_limit = 5.0
apply_angle = np.clip(apply_angle, CS.out.steeringAngleDeg - error_limit, CS.out.steeringAngleDeg + error_limit)
max_torque = 200
ego_weight = np.interp(CS.out.vEgoCluster, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0])
self.driver_applied_torque_reducer = max(30, min(150, self.driver_applied_torque_reducer + (-1 if abs(CS.out.steeringTorque) > 200 else 1)))
self.lkas_max_torque = int(round(max_torque * ego_weight * (self.driver_applied_torque_reducer / 150)))
#max_torque = 200
#ego_weight = np.interp(CS.out.vEgoCluster, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0])
#self.driver_applied_torque_reducer = max(30, min(150, self.driver_applied_torque_reducer + (-1 if abs(CS.out.steeringTorque) > 200 else 1)))
#self.lkas_max_torque = int(round(max_torque * ego_weight * (self.driver_applied_torque_reducer / 150)))
MAX_TORQUE = 240
ego_weight = np.interp(CS.out.vEgo, [0, 5, 10, 20], [0.2, 0.3, 0.5, 1.0])
if abs(CS.out.steeringTorque) > 700:
self.driver_applied_torque_reducer -= 1
if self.driver_applied_torque_reducer < 30:
self.driver_applied_torque_reducer = 30
else:
self.driver_applied_torque_reducer += 1
if self.driver_applied_torque_reducer > 150:
self.driver_applied_torque_reducer = 150
if self.driver_applied_torque_reducer < 150:
self.lkas_max_torque = int(round(MAX_TORQUE * ego_weight * (self.driver_applied_torque_reducer / 150)))
else:
self.lkas_max_torque = MAX_TORQUE * ego_weight
if not CC.latActive:
apply_angle = CS.out.steeringAngleDeg