Latcontrol torque: update tuning (commaai#24357)

* Little more chill * Update ref * Update refs (cherry picked from commit 8cdeaf9) (cherry picked from commit ab629b6)
rjsmith1999 · Jun 16, 2022 · 032d2ed · 032d2ed
1 parent 2de938e
commit 032d2ed
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -43,15 +43,15 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
       ret.wheelbase = 2.65
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
@@ -129,7 +129,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True

diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
@@ -54,9 +54,9 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
   if name == LatTunes.TORQUE:
     tune.init('torque')
     tune.torque.useSteeringAngle = True
-    tune.torque.kp = 2.0 / MAX_LAT_ACCEL
+    tune.torque.kp = 1.0 / MAX_LAT_ACCEL
     tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-    tune.torque.ki = 0.5 / MAX_LAT_ACCEL
+    tune.torque.ki = 0.25 / MAX_LAT_ACCEL
     tune.torque.friction = FRICTION
   elif name == LatTunes.INDI_PRIUS:
     tune.init('indi')