62 lines
1.7 KiB
Python
62 lines
1.7 KiB
Python
from dataclasses import dataclass, field
|
|
|
|
from opendbc.car.hyundai.values import CAR
|
|
|
|
|
|
@dataclass
|
|
class CarTuningConfig:
|
|
v_ego_stopping: float = 0.25
|
|
v_ego_starting: float = 0.10
|
|
stopping_decel_rate: float = 0.40
|
|
lookahead_jerk_bp: list[float] = field(default_factory=lambda: [5., 20.])
|
|
lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.25, 0.5])
|
|
lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.15, 0.3])
|
|
longitudinal_actuator_delay: float = 0.45
|
|
jerk_limits: float = 4.0
|
|
|
|
|
|
# Default configurations for different car types
|
|
TUNING_CONFIGS = {
|
|
"CANFD": CarTuningConfig(
|
|
v_ego_stopping=0.365,
|
|
lookahead_jerk_bp=[2., 5., 20.],
|
|
lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
|
|
lookahead_jerk_lower_v=[0.05, 0.10, 0.325],
|
|
),
|
|
"EV": CarTuningConfig(
|
|
stopping_decel_rate=0.45,
|
|
v_ego_stopping=0.35,
|
|
lookahead_jerk_upper_v=[0.3, 0.7],
|
|
lookahead_jerk_lower_v=[0.2, 0.4],
|
|
),
|
|
"HYBRID": CarTuningConfig(
|
|
v_ego_starting=0.15,
|
|
stopping_decel_rate=0.45,
|
|
v_ego_stopping=0.4,
|
|
),
|
|
"DEFAULT": CarTuningConfig(
|
|
lookahead_jerk_bp=[2., 5., 20.],
|
|
lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
|
|
lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
|
|
)
|
|
}
|
|
|
|
# Car-specific configs
|
|
CAR_SPECIFIC_CONFIGS = {
|
|
CAR.KIA_NIRO_EV: CarTuningConfig(
|
|
stopping_decel_rate=0.3,
|
|
lookahead_jerk_upper_v=[0.3, 1.0],
|
|
lookahead_jerk_lower_v=[0.2, 0.4],
|
|
jerk_limits=2.5,
|
|
),
|
|
CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
|
|
stopping_decel_rate=0.3,
|
|
lookahead_jerk_upper_v=[0.3, 1.0],
|
|
lookahead_jerk_lower_v=[0.15, 0.3],
|
|
jerk_limits=4.0,
|
|
),
|
|
CAR.HYUNDAI_IONIQ: CarTuningConfig(
|
|
jerk_limits=4.5,
|
|
)
|
|
}
|