Lateral tuning of E9x

[OxygenLiu]

Car
E90 325i, MY2008

Tuning

• Experimental mode ON
• Acceptable performance matching to my driving style: more active acceleration, closer following distance, and less unnecessary braking.

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[dzid26]

need to figure out what values in toml causes:

openpilot/selfdrive/car/tests/test_lateral_limits.py::TestLateralLimits_7_BMW_E90::test_jerk_limits failed: self = <selfdrive.car.tests.test_lateral_limits.TestLateralLimits_7_BMW_E90 object at 0x7f95b2dd5340>

    def test_jerk_limits(self):
      up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
      assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
>     assert down_jerk <= MAX_LAT_JERK_DOWN
E     assert 6.0 <= 5.0

[dzid26]

@OxygenLiu any idea why it was constantly requesting max torque to the right and being undrivable? Is it related to lateralTuning.torque.latAccelOffset = -0.255 ? - I left it at default (0).

Quite large Live parameters offset:

...but the similar on the master:

[OxygenLiu]

this is the torque params for cycloidal reducer 11:1, probably not suitable for planetary gearbox.

I had similar issue due to wrong stepper direction. :(

[dzid26]

For 5:1 shouldn't be that much different. Strange that it always go full to the right, not just opposite.

I will test longitudinal for now.

[dzid26]

bmw probably should not be allowed to use live values, because overriding the steering by hand cannot be detected and could sometimes skew the results.

[OxygenLiu]

hm, I agree. The learned live parameters can be saved in override.toml, and then delete bmw in ALLOWED_CARS.

In practise I don't override steering, but instead press the brake pedal to disengage OP.

Besides, without a proper torque sensor, it is probably quite challenge to achieve a smooth overriding.

[dzid26]

Overriding works well when going nore or less straight and torque is low. OP still doesn't work great when there is no lane lines.