44 lines
1.8 KiB
Python
44 lines
1.8 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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GM torque-space feed-forward for the IQ.Pilot lateral extension: a sigmoid+linear
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lat-accel -> torque curve for the tuned platforms, else the linear default.
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"""
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from math import exp
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from iqdbc.car import structs
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from iqdbc.car.gm.interface import CAR
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from iqdbc.lvbs.car.interfaces import LatControlInputs, TorqueFromLateralAccelCallbackTypeTorqueSpace
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_NON_LINEAR_TORQUE_PARAMS = {
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CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
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CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
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CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
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}
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class IQCarInterface:
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def __init__(self, CP: structs.CarParams, CI_Base):
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self.CP = CP
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self.CI_Base = CI_Base
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@staticmethod
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def _centered_sigmoid(val: float) -> float:
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# sigmoid shifted to pass through the origin; branch keeps exp() from overflowing
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if val >= 0:
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return 1.0 / (1.0 + exp(-val)) - 0.5
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z = exp(val)
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return z / (1.0 + z) - 0.5
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def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
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torque_params: structs.CarParams.LateralTorqueTuning,
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gravity_adjusted: bool) -> float:
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a, b, c, _ = _NON_LINEAR_TORQUE_PARAMS[self.CP.carFingerprint]
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lat_accel = latcontrol_inputs.lateral_acceleration
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return float(self._centered_sigmoid(lat_accel * a) * b + lat_accel * c)
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def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
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if self.CP.carFingerprint in _NON_LINEAR_TORQUE_PARAMS:
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return self.torque_from_lateral_accel_siglin
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return self.CI_Base.torque_from_lateral_accel_linear_in_torque_space
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