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https://github.com/infiniteCable2/opendbc.git
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e5a826949b
* hkg long: refactor long tune Refactor long tune to add dynamic comfort band logic, reduce reliance on radarUnavailable setters and clean up config. * test coverage for dynamic comfort band * show that negative list comprehension is the same as expected format * deprecate unittest * blank space * pytest.approx * Update test_tuning_controller.py --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
75 lines
2.1 KiB
Python
75 lines
2.1 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from dataclasses import dataclass, field
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from opendbc.car.hyundai.values import CAR
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@dataclass
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class CarTuningConfig:
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v_ego_stopping: float = 0.25
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v_ego_starting: float = 0.10
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stopping_decel_rate: float = 0.40
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lookahead_jerk_bp: list[float] = field(default_factory=lambda: [5., 20.])
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lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.25, 0.5])
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lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.15, 0.3])
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longitudinal_actuator_delay: float = 0.50
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jerk_limits: float = 4.0
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# Default configurations for different car types
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TUNING_CONFIGS = {
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"CANFD": CarTuningConfig(
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v_ego_stopping=0.365,
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.05, 0.10, 0.325],
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),
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"EV": CarTuningConfig(
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stopping_decel_rate=0.45,
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v_ego_stopping=0.35,
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
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longitudinal_actuator_delay=0.25
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),
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"HYBRID": CarTuningConfig(
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v_ego_starting=0.15,
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stopping_decel_rate=0.45,
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v_ego_stopping=0.4,
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),
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"DEFAULT": CarTuningConfig(
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v_ego_stopping=0.3,
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
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)
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}
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# Car-specific configs
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CAR_SPECIFIC_CONFIGS = {
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CAR.KIA_NIRO_EV: CarTuningConfig(
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v_ego_stopping=0.1,
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stopping_decel_rate=0.1,
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.1, 0.15, 0.3],
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longitudinal_actuator_delay=0.25,
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jerk_limits=2.5,
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),
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CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
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stopping_decel_rate=0.3,
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lookahead_jerk_upper_v=[0.3, 1.0],
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lookahead_jerk_lower_v=[0.15, 0.3],
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jerk_limits=5.0,
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),
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CAR.HYUNDAI_IONIQ: CarTuningConfig(
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jerk_limits=5.0,
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)
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}
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