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Toyota: unwind longitudinal integral #1652

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merged 6 commits into from
Jan 22, 2025
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Toyota: unwind longitudinal integral #1652

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64fe842
fix undershoot
sshane Jan 22, 2025
db7722b
clean up
sshane Jan 22, 2025
b94ac12
maybe fine
sshane Jan 22, 2025
5423e5f
unwind instead
sshane Jan 22, 2025
2040a46
revert
sshane Jan 22, 2025
ed1a419
up here
sshane Jan 22, 2025
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4 changes: 4 additions & 0 deletions opendbc/car/toyota/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3 # m/s^2 / frame
ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3 # m/s^2 / frame
ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3 # m/s^2 / frame

# LKA limits
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
Expand Down Expand Up @@ -220,6 +221,9 @@ def update(self, CC, CS, now_nanos):
a_ego_future = a_ego_blended + j_ego * 0.5

if actuators.longControlState == LongCtrlState.pid:
# constantly slowly unwind integral to recover from large temporary errors
self.long_pid.i -= ACCEL_PID_UNWIND * float(np.sign(self.long_pid.i))

error_future = pcm_accel_cmd - a_ego_future
pcm_accel_cmd = self.long_pid.update(error_future,
speed=CS.out.vEgo,
Expand Down
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