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Lexus ES TSS2: improve start from stop response time (#1301) 

* permit braking

* consider pitch
This commit is contained in:
Shane Smiskol 2024-09-27 21:21:27 -07:00 committed by GitHub
parent 4e64728753
commit b556672f9c
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GPG Key ID: B5690EEEBB952194
2 changed files with 10 additions and 5 deletions
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11
opendbc/car/toyota/carcontroller.py
View File

@ -125,9 +125,14 @@ class CarController(CarControllerBase):
self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.01, 0.01)
pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation
# Along with rate limiting positive jerk below, this greatly improves gas response time
# Consider the net acceleration request that the PCM should be applying (pitch included)
permit_braking = net_acceleration_request < 0.1
else:
self.pcm_accel_compensation = 0.0
pcm_accel_cmd = actuators.accel
permit_braking = True
pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
@ -163,11 +168,11 @@ class CarController(CarControllerBase):
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
self.distance_button))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, permit_braking, self.standstill_req, lead, CS.acc_type,
fcw_alert, self.distance_button))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button))
# *** hud ui ***
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:

4
opendbc/car/toyota/toyotacan.py
View File

@ -33,14 +33,14 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
"ACC_TYPE": acc_type,
"DISTANCE": distance,
"MINI_CAR": lead,
"PERMIT_BRAKING": 1,
"PERMIT_BRAKING": permit_braking,
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,