Honda Pilot PID Tuning

Gernby · Dec 13, 2018 · 936f765 · 936f765
1 parent 0f20953
commit 936f765
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -308,8 +308,8 @@ def get_params(candidate, fingerprint):
       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  # trying same as odyssey
+      ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]   #tweaking optimal result      - RESULT: Seems to fix slow / fast lane hug!
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]