updated default parameters for dampening

edukinara · Mar 27, 2019 · 0845916 · 0845916
1 parent ecb67bd
commit 0845916
Show file tree

Hide file tree

Showing 7 changed files with 32 additions and 32 deletions.
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
@@ -78,10 +78,10 @@ def get_params(candidate, fingerprint):
     ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.7
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     if candidate == CAR.JEEP_CHEROKEE:
       ret.wheelbase = 2.91  # in meters

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
@@ -77,10 +77,10 @@ def get_params(candidate, fingerprint):
     ret.steerKf = 1. / MAX_ANGLE   # MAX Steer angle to normalize FF
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
     ret.steerRateCost = 1.0
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     f = 1.2
     tireStiffnessFront_civic *= f

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -57,10 +57,10 @@ def get_params(candidate, fingerprint):
     ret.carFingerprint = candidate
 
     ret.enableCruise = False
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     # Presence of a camera on the object bus is ok.
     # Have to go passive if ASCM is online (ACC-enabled cars),

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -175,10 +175,10 @@ def get_params(candidate, fingerprint):
     rotationalInertia_civic = 2500
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
-    ret.steerMPCReactTime = 0.025      # increase total MPC projected time by 25 ms
-    ret.steerMPCDampTime = 0.1         # dampen desired angle over 100ms (2 mpc cycles)
-    ret.steerReactTime = -0.04         # decrease total projected angle by 40 ms
-    ret.steerDampTime = 0.05           # dampen projected steer angle over 50ms (1 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     # Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
     # model optimization process. Certain Hondas have an extra steering sensor at the bottom
@@ -224,10 +224,10 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 15.96  # 11.82 is spec end-to-end
       tire_stiffness_factor = 0.8467
       ret.syncID = 330
-      ret.steerMPCReactTime = 0.05     # project desired angle 0 ms
-      ret.steerMPCDampTime = 0.25      # smooth desired angle over 300ms (30 samples)
+      ret.steerMPCReactTime = 0.025     # project desired angle 0 ms
+      ret.steerMPCDampTime = 0.3      # smooth desired angle over 300ms (30 samples)
       ret.steerReactTime = 0.0        # project steer angle 0 ms (using steer rate)
-      ret.steerDampTime = 0.25        # smooth projected steer angle over 300ms (30 samples)
+      ret.steerDampTime = 0.3        # smooth projected steer angle over 300ms (30 samples)
       ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -363,7 +363,7 @@ def get_params(candidate, fingerprint):
 
     # no max steer limit VS speed
     ret.steerMaxBP = [0.]  # m/s
-    ret.steerMaxV = [1.]   # max steer allowed 
+    ret.steerMaxV = [1.]   # max steer allowed
 
     ret.gasMaxBP = [0.]  # m/s
     ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
@@ -68,10 +68,10 @@ def get_params(candidate, fingerprint):
     rotationalInertia_civic = 2500
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     ret.steerActuatorDelay = 0.1  # Default delay
     tire_stiffness_factor = 1.

diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
@@ -50,6 +50,10 @@ def get_params(candidate, fingerprint):
     ret.enableCruise = False
     ret.steerLimitAlert = True
     ret.enableCamera = True
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     std_cargo = 136
     ret.steerRateCost = 0.7

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -72,10 +72,10 @@ def get_params(candidate, fingerprint):
     rotationalInertia_civic = 2500
     tireStiffnessFront_civic = 192150
     tireStiffnessRear_civic = 202500
-    ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-    ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-    ret.steerReactTime = -0.1         # decrease total projected angle by 100 ms
-    ret.steerDampTime = 0.2           # dampen projected steer angle over 200ms (20 control cycles)
+    ret.steerMPCReactTime = 0.025     # increase total MPC projected time by 25 ms
+    ret.steerMPCDampTime = 0.05       # dampen desired angle over 50ms (1 mpc cycles)
+    ret.steerReactTime = -0.02        # decrease total projected angle by 20 ms
+    ret.steerDampTime = 0.03          # dampen projected steer angle over 30ms (3 control cycles)
 
     ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
@@ -89,10 +89,6 @@ def get_params(candidate, fingerprint):
       ret.mass = 3045 * CV.LB_TO_KG + std_cargo
       ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
-      ret.steerMPCReactTime = 0.05      # increase total MPC projected time by 50 ms
-      ret.steerMPCDampTime = 0.2        # dampen desired angle over 200ms (4 mpc cycles)
-      ret.steerReactTime = 0.15         # decrease total projected angle by 100 ms
-      ret.steerDampTime = 0.5           # dampen projected steer angle over 200ms (20 control cycles)
       # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
       ret.steerActuatorDelay = 0.25