[controlsd] Toyota Prius 2017 (#26455)

* increase lag on prius

* better offline values computation

* split prius ecu more, set deadzone to 0

* add deadzone back

* replace deadzone with slack

* reduce deadzone to 0.2

* update refs
old-commit-hash: 0706b03e8c

selfdrive/car/interfaces.py

@@ -11,7 +11,7 @@ from common.kalman.simple_kalman import KF1D
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
@@ -109,7 +109,7 @@ class CarInterfaceBase(ABC):
   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction_interp = interp(
-      apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
+      apply_slack(lateral_accel_error, lateral_accel_deadzone),
       [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
       [-torque_params.friction, torque_params.friction]
     )

selfdrive/car/torque_data/params.yaml

@@ -77,7 +77,8 @@ TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
 TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515]
+TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
+TOYOTA PRIUS 2017 x060: [1.746445, 1.5023147650693636, 0.17]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
 TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]

selfdrive/car/toyota/interface.py

@@ -42,7 +42,8 @@ class CarInterface(CarInterfaceBase):
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
         if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          steering_angle_deadzone_deg = 1.0
+          steering_angle_deadzone_deg = 0.2
+          ret.steerActuatorDelay = 0.25
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate == CAR.PRIUS_V:
@@ -51,7 +52,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False

selfdrive/controls/lib/drive_helpers.py

@@ -149,6 +149,12 @@ def apply_deadzone(error, deadzone):
   return error
 
 
+def apply_slack(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
 def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-08ca448a6dcfc1edc4f9fedb2ea94ad6b2b69aa2
+ddfaab44ae64a0d064b847e81080993b51b6b423