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angle steering maxtorque 240 -> 200

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ajouatom 2025-02-14 09:04:45 +09:00
parent b278513262
commit fdf0af7a32
1 changed files with 1 additions and 1 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
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@ -132,7 +132,7 @@ class CarController(CarControllerBase):
#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
MAX_TORQUE = 200
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