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Ford: higher curvature rate limits at low speed (#2065) 

* use closer to EPS limits

* raise to upper bound of spread from injection plot

* we've seen ~0.009 at 7 m/s, so allow that

* fix test

* rounding errors cause the 2 to round to the same value

* adjust for latest opendbc change

* we should actually match what safety is doing! fix lack of test coverage near first brake point

fix

* and fix test
This commit is contained in:
Shane Smiskol 2024-10-26 01:27:33 -05:00 committed by GitHub
parent 2bd2f2a702
commit 3066f93d8a
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2 changed files with 6 additions and 6 deletions
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4
board/safety/safety_ford.h
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@ -114,11 +114,11 @@ static const SteeringLimits FORD_STEERING_LIMITS = {
.max_angle_error = 100, // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can
.angle_rate_up_lookup = {
{5., 25., 25.},
{0.0002, 0.0001, 0.0001}
{0.00045, 0.0001, 0.0001}
},
.angle_rate_down_lookup = {
{5., 25., 25.},
{0.000225, 0.00015, 0.00015}
{0.00045, 0.00015, 0.00015}
},
// no blending at low speed due to lack of torque wind-up and inaccurate current curvature

8
tests/safety/test_ford.py
View File

@ -86,8 +86,8 @@ class TestFordSafetyBase(common.PandaCarSafetyTest):
CURVATURE_ERROR_MIN_SPEED = 10.0 # m/s
ANGLE_RATE_BP = [5., 25., 25.]
ANGLE_RATE_UP = [0.0002, 0.0001, 0.0001] # windup limit
ANGLE_RATE_DOWN = [0.000225, 0.00015, 0.00015] # unwind limit
ANGLE_RATE_UP = [0.00045, 0.0001, 0.0001] # windup limit
ANGLE_RATE_DOWN = [0.00045, 0.00015, 0.00015] # unwind limit
cnt_speed = 0
cnt_speed_2 = 0
@ -290,7 +290,7 @@ class TestFordSafetyBase(common.PandaCarSafetyTest):
for speed in np.arange(0, 40, 0.5):
limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
max_delta_up = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
max_delta_up = np.interp(speed - 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
max_delta_up_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
cases = [
@ -313,7 +313,7 @@ class TestFordSafetyBase(common.PandaCarSafetyTest):
for speed in np.arange(0, 40, 0.5):
limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
max_delta_down = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
max_delta_down = np.interp(speed - 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
max_delta_down_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
cases = [