50 lines
1.3 KiB
Python
50 lines
1.3 KiB
Python
from dataclasses import dataclass, field
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from iqdbc.car.hyundai.values import CAR
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@dataclass
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class CarTuningConfig:
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lookahead_jerk_bp: list[float] = field(default_factory=lambda: [5., 20.])
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lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.25, 0.5])
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lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.15, 0.3])
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longitudinal_actuator_delay: float = 0.45
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jerk_limits: float = 4.0
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# Default configurations for different car types
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TUNING_CONFIGS = {
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"CANFD": CarTuningConfig(
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.05, 0.10, 0.325],
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),
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"EV": CarTuningConfig(
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lookahead_jerk_upper_v=[0.3, 0.7],
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lookahead_jerk_lower_v=[0.2, 0.4],
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),
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"HYBRID": CarTuningConfig(),
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"DEFAULT": CarTuningConfig(
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lookahead_jerk_bp=[2., 5., 20.],
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lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
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lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
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)
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}
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# Car-specific configs
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CAR_SPECIFIC_CONFIGS = {
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CAR.KIA_NIRO_EV: CarTuningConfig(
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lookahead_jerk_upper_v=[0.3, 1.0],
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lookahead_jerk_lower_v=[0.2, 0.4],
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jerk_limits=2.5,
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),
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CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
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lookahead_jerk_upper_v=[0.3, 1.0],
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lookahead_jerk_lower_v=[0.15, 0.3],
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jerk_limits=4.0,
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),
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CAR.HYUNDAI_IONIQ: CarTuningConfig(
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jerk_limits=4.5,
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)
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}
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