see what it learns

sshane · Aug 19, 2021 · f2a9a93 · f2a9a93
1 parent c357ef6
commit f2a9a93
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -92,11 +92,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.minSpeedCan = 0.1 * CV.KPH_TO_MS
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-
-      ret.lateralTuning.init('model')
-      ret.lateralTuning.model.name = "corolla_model_v5"
-      ret.lateralTuning.model.useRates = False  # TODO: makes model sluggish, see comments in latcontrol_model.py
-      ret.lateralTuning.model.multiplier = 1.
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[20, 31], [0.06, 0.12]]  # 45 to 70 mph
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[20, 31], [0.001, 0.02]]
+      ret.lateralTuning.pid.kdBP, ret.lateralTuning.pid.kdV = [[20, 31], [0.1, 0.2]]
+      ret.lateralTuning.pid.kf = 0.00003  # full torque for 20 deg at 80mph means 0.00007818594
+      # ret.lateralTuning.pid.kf = 0.00006908923778520113  # full torque for 20 deg at 80mph means 0.00007818594
+      ret.lateralTuning.pid.newKfTuned = True
 
     elif candidate == CAR.LEXUS_RX:
       stop_and_go = True