Toyota: Follow accel request more accurately #554
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sshane
changed the title
sshane
commented
Jan 12, 2022
| @@ -44,7 +58,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler | |||
| interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) | |||
| else: | |||
| interceptor_gas_cmd = 0. | |||
| pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) | |||
| pcm_accel_cmd = clip(accel_predict(CS.out.aEgo, actuators.accel), CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) | |||
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Supposed to just be feedforward, we'll see how this goes
Update carcontroller.py new model fix
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Have a net predict an accurate accel request to follow the desired plan, specific to how Toyota responds to acceleration commands.
Input (training) -> [current aEgo, future aEgo]
Input (inference) -> [current aDesired, lag compensated aDesired]
Output -> [current accel cmd]