spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Improved tune for VW Golf Mk7. #1603 

commit 012049274fd5573bdc5d2d0f198817646dfd5a1b
Author: Willem Melching <willem.melching@gmail.com>
Date:   Sat May 30 10:40:49 2020 -0700

    update ref

commit d50cc2d81f
Author: Jason Young <jyoung8607@gmail.com>
Date:   Sat May 30 10:32:25 2020 -0400

    Discard no-longer-used import

commit c092e6f509
Author: Jason Young <jyoung8607@gmail.com>
Date:   Sat May 30 10:21:57 2020 -0400

    Improved tune from community
pull/1609/head
Willem Melching 2020-05-30 17:04:10 -07:00
parent 18afb979fe
commit b5a2cec913
2 changed files with 11 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
selfdrive/car/volkswagen/interface.py
View File

@ -1,5 +1,4 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
from common.params import put_nonblocking
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
@ -33,35 +32,23 @@ class CarInterface(CarInterfaceBase):
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
# As a starting point for speed-adjusted lateral tuning, use the example
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
# whether the driver assist map breakpoints have any direct bearing on
# HCA assist torque, but if they're good breakpoints for the driver,
# they're probably good breakpoints for HCA as well. OP won't be driving
# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
# FIXME: Per-vehicle parameters need to be reintegrated.
# For the time being, per-vehicle stuff is being archived since we
# can't auto-detect very well yet. Now that tuning is figured out,
# averaged params should work reasonably on a range of cars. Owners
# can tweak here, as needed, until we have car type auto-detection.
ret.mass = 1700 + STD_CARGO_KG
ret.wheelbase = 2.75
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45
ret.steerRatio = 15.6
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
tire_stiffness_factor = 0.6
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
tire_stiffness_factor = 1.0
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic
# TODO: get actual value, for now starting with reasonable value for

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
7a37594320b77ed514b11125e54b6f515150d6c1
d50cc2d81fd73dcfccfe1a8e2726879941ec5327