Merge pull request commaai#792 from cgw1968-5779/patch-4

Update interface.py
rav4kumar · Feb 14, 2021 · 14bf4ae · 14bf4ae
2 parents cde4de7 + 603b2c5
commit 14bf4ae
Showing 1 changed file with 28 additions and 22 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -243,44 +243,50 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.safetyParam = 56
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
-      ret.steerRateCost = 0.45
+      ret.steerRateCost = 0.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.longitudinalTuning.kpV = [2.1, 1.2, 0.34]
       ret.longitudinalTuning.kiV = [0.54, 0.34]
-      ret.steerActuatorDelay = 0.35
-      ret.steerLimitTimer = 5.0
+      ret.stoppingBrakeRate = 0.16 # reach stopping target smoothly
+      ret.startingBrakeRate = 0.75 # release brakes fast
+      ret.startAccel = 1.30 # Accelerate from 0 faster
+      ret.steerActuatorDelay = 0.12
+      ret.steerLimitTimer = 0.1
       ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.innerLoopGainV = [9.5, 15, 15]
-      ret.lateralTuning.indi.outerLoopGainBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.outerLoopGainV = [9.5, 14.99, 14.99]
-      ret.lateralTuning.indi.timeConstantBP = [16.7, 16.71, 22, 22.01, 26, 26.01, 36, 36.01]
-      ret.lateralTuning.indi.timeConstantV = [0.5, 1, 1, 2, 2, 4, 4, 5]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [9.5, 15, 15]
+      ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
+      ret.lateralTuning.indi.innerLoopGainV = [15, 15]
+      ret.lateralTuning.indi.outerLoopGainBP = [8.3, 11.1, 13.9, 16.7, 19.4, 22.2,  25, 30.1, 33.3, 36.1]
+      ret.lateralTuning.indi.outerLoopGainV = [4.6, 6.2, 8.3, 10.4, 12.8, 14.99, 16, 17, 18, 19]
+      ret.lateralTuning.indi.timeConstantBP = [8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1]
+      ret.lateralTuning.indi.timeConstantV = [1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
 
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
       ret.safetyParam = 56
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
-      ret.steerRateCost = 0.45
+      ret.steerRateCost = 0.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.longitudinalTuning.kpV = [2.1, 1.2, 0.34]
       ret.longitudinalTuning.kiV = [0.54, 0.34]
-      ret.steerActuatorDelay = 0.35
-      ret.steerLimitTimer = 5.0
+      ret.stoppingBrakeRate = 0.16 # reach stopping target smoothly
+      ret.startingBrakeRate = 0.75 # release brakes fast
+      ret.startAccel = 1.30 # Accelerate from 0 faster
+      ret.steerActuatorDelay = 0.12
+      ret.steerLimitTimer = 0.1
       ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.innerLoopGainV = [9.5, 15, 15]
-      ret.lateralTuning.indi.outerLoopGainBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.outerLoopGainV = [9.5, 14.99, 14.99]
-      ret.lateralTuning.indi.timeConstantBP = [16.7, 16.71, 22, 22.01, 26, 26.01, 36, 36.01]
-      ret.lateralTuning.indi.timeConstantV = [0.5, 1, 1, 2, 2, 4, 4, 5]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25, 36.1]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [9.5, 15, 15]
+      ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
+      ret.lateralTuning.indi.innerLoopGainV = [15, 15]
+      ret.lateralTuning.indi.outerLoopGainBP = [8.3, 11.1, 13.9, 16.7, 19.4, 22.2,  25, 30.1, 33.3, 36.1]
+      ret.lateralTuning.indi.outerLoopGainV = [4.6, 6.2, 8.3, 10.4, 12.8, 14.99, 16, 17, 18, 19]
+      ret.lateralTuning.indi.timeConstantBP = [8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1]
+      ret.lateralTuning.indi.timeConstantV = [1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True