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Lexus ES TSS2: fix acceleration overshoot from a stop (#1465) 

do rate limiting before pcm comp, and set permit braking based on it too
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Shane Smiskol 2024-11-08 22:41:37 -06:00 committed by GitHub
parent 35979db999
commit f1768748c0
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1 changed files with 8 additions and 9 deletions
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17
opendbc/car/toyota/carcontroller.py
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@ -169,6 +169,9 @@ class CarController(CarControllerBase):
else:
self.distance_button = 0
# internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit
pcm_accel_cmd = min(actuators.accel, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
# For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking
if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT and CC.longActive and not CS.out.cruiseState.standstill:
# calculate amount of acceleration PCM should apply to reach target, given pitch
@ -177,7 +180,7 @@ class CarController(CarControllerBase):
else:
accel_due_to_pitch = 0.0
net_acceleration_request = actuators.accel + accel_due_to_pitch
net_acceleration_request = pcm_accel_cmd + accel_due_to_pitch
# let PCM handle stopping for now
pcm_accel_compensation = 0.0
@ -185,13 +188,13 @@ class CarController(CarControllerBase):
pcm_accel_compensation = 2.0 * (CS.pcm_accel_net - net_acceleration_request)
# prevent compensation windup
pcm_accel_compensation = clip(pcm_accel_compensation, actuators.accel - self.params.ACCEL_MAX,
actuators.accel - self.params.ACCEL_MIN)
pcm_accel_compensation = clip(pcm_accel_compensation, pcm_accel_cmd - self.params.ACCEL_MAX,
pcm_accel_cmd - self.params.ACCEL_MIN)
self.pcm_accel_compensation = rate_limit(pcm_accel_compensation, self.pcm_accel_compensation, -0.03, 0.03)
pcm_accel_cmd = actuators.accel - self.pcm_accel_compensation
pcm_accel_cmd = pcm_accel_cmd - self.pcm_accel_compensation
# Along with rate limiting positive jerk below, this greatly improves gas response time
# Along with rate limiting positive jerk above, this greatly improves gas response time
# Consider the net acceleration request that the PCM should be applying (pitch included)
if net_acceleration_request < 0.1 or stopping:
self.permit_braking = True
@ -199,14 +202,10 @@ class CarController(CarControllerBase):
self.permit_braking = False
else:
self.pcm_accel_compensation = 0.0
pcm_accel_cmd = actuators.accel
self.permit_braking = True
pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
# 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.permit_braking, self.standstill_req, lead,
CS.acc_type, fcw_alert, self.distance_button))
self.accel = pcm_accel_cmd