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Use EV gas lookup tables

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Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 40a36dfcde
commit 28a898f874
7 changed files with 45 additions and 7 deletions
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13
selfdrive/car/gm/values.py
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@@ -4,6 +4,7 @@ from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Union
from cereal import car
from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
@@ -81,6 +82,18 @@ class CarControllerParams:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
# determined by letting Volt regen to a stop in L gear from 89mph,
# and by letting off gas and allowing car to creep, for determining
# the positive threshold values at very low speed
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
def update_ev_gas_brake_threshold(self, v_ego):
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
class CAR(StrEnum):
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"