this matters

selfdrive/car/__init__.py

@@ -1,6 +1,6 @@
 # functions common among cars
 from cereal import car
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -65,12 +65,14 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
   return int(round(float(apply_torque)))
 
 
-def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  # limits due to comparison of commanded torque VS motor reported torque
-  max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
-  min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
+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_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, min_lim, max_lim)
+  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
   if apply_torque_last > 0:

selfdrive/car/toyota/carcontroller.py

@@ -49,7 +49,7 @@ class CarController:
 
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
+    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorque, CarControllerParams)
     self.steer_rate_limited = new_steer != apply_steer
 
     # Cut steering while we're in a known fault state (2s)

selfdrive/car/toyota/interface.py

@@ -198,6 +198,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
+    if ret.lateralTuning.which() == 'pid':
+      ret.lateralTuning.pid.kpV = [p / 10. for p in ret.lateralTuning.pid.kpV]
+      ret.lateralTuning.pid.kiV = [p / 10. for p in ret.lateralTuning.pid.kiV]
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 

selfdrive/car/toyota/values.py

@@ -20,7 +20,11 @@ class CarControllerParams:
   STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-  STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
+
+  # these are for std torque limits
+  STEER_DRIVER_MULTIPLIER = 10  # TODO: find value that makes sense
+  STEER_DRIVER_FACTOR = 10  # TODO: doesn't totally match
+  STEER_DRIVER_ALLOWANCE = (STEER_MAX / (384 / 50)) / STEER_DRIVER_FACTOR  # TODO: copied from Hyundai
 
 
 class ToyotaFlags(IntFlag):