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Toyota: Improve comma pedal Stop-and-Go

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 075e81ce44
commit 6fe645e21c
4 changed files with 23 additions and 19 deletions
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11
selfdrive/car/toyota/carcontroller.py
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@@ -6,7 +6,7 @@ from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_st
from openpilot.selfdrive.car.toyota import toyotacan
from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
UNSUPPORTED_DSU_CAR
UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR
from opendbc.can.packer import CANPacker
SteerControlType = car.CarParams.SteerControlType
@@ -123,12 +123,12 @@ class CarController:
lta_active, self.frame // 2, torque_wind_down))
# *** gas and brake ***
if self.CP.enableGasInterceptor and CC.longActive:
if self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint not in STOP_AND_GO_CAR:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
if self.CP.carFingerprint == CAR.RAV4:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif self.CP.carFingerprint in (CAR.COROLLA,):
elif self.CP.carFingerprint == CAR.COROLLA:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
@@ -136,6 +136,9 @@ class CarController:
pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
elif ((CC.longActive and actuators.accel > 0.) or (not self.CP.openpilotLongitudinalControl and CS.stock_resume_ready)) \
and self.CP.carFingerprint in STOP_AND_GO_CAR and self.CP.enableGasInterceptor and CS.out.vEgo < 1e-3:
interceptor_gas_cmd = 0.12
else:
interceptor_gas_cmd = 0.