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toyota-std-torque-limits
Shane Smiskol 2022-03-23 11:19:49 -07:00
parent b5e7a443cf
commit dbbd2872ed
1 changed files with 2 additions and 2 deletions
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4
selfdrive/car/__init__.py
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@ -68,10 +68,10 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
# limits due to driver torque
driver_torque = 0 if abs(driver_torque) <= 10 else driver_torque
driver_torque_max = driver_torque + (interp(abs(driver_torque), [100, 300], [LIMITS.STEER_MAX, LIMITS.STEER_MAX / 5]))
driver_torque_min = driver_torque - interp(abs(driver_torque), [100, 300], [LIMITS.STEER_MAX, LIMITS.STEER_MAX / 5])
driver_torque_max = driver_torque + (interp(abs(driver_torque), [100, 300], [LIMITS.STEER_MAX, LIMITS.STEER_MAX / 5]))
apply_torque = clip(apply_torque, driver_torque_max, driver_torque_min)
apply_torque = clip(apply_torque, driver_torque_min, driver_torque_max)
apply_torque = clip(apply_torque, -LIMITS.STEER_MAX, LIMITS.STEER_MAX)
# slow rate if steer torque increases in magnitude