Rivian: increase torque #2016
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Rivian: increase torque #2016
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sshane
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Re-ran injection tests on the R1S to get a clearer picture at the torque drop off, pretty obvious now. It looks like it starts around 17 m/s (38 mph) and goes to 6.68 m/s (15 mph). Note that for the points at 5 m/s we couldn't maintain the max torque for very long as the wheel could reach 90 degrees which was the ACC disengagement threshold. https://connect.comma.ai/bc095dc92e101734/00000126--5176aa3ee8
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Injection test with the latest interp on this PR: https://connect.comma.ai/bc095dc92e101734/0000012b--885dacf910
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sshane
commented
Mar 22, 2025
| apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, | ||
| CS.out.steeringTorque, CarControllerParams) | ||
| CS.out.steeringTorque, CarControllerParams, dynamic_steer_max) |
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TODO: move this into apply_driver_steer_torque_limits
sshane
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Mar 22, 2025
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| def get_steer_max(self, v_ego: float) -> int: | ||
| return round(np.interp(v_ego, CarControllerParams.STEER_MAXES[0], CarControllerParams.STEER_MAXES[1])) | ||
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| # def torque_from_lateral_accel_rivian(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, | ||
| # lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float: | ||
| # # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) | ||
| # friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) | ||
| # return (latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)) + friction | ||
| # | ||
| # def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: | ||
| # return self.torque_from_lateral_accel_rivian | ||
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sshane
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Mar 22, 2025
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2 things noticed from plotting torque points in 3D from torqued on this route:
2d2da5dea63b5c5e/00000011--fc863c57a2/qBut this goes against what we found in the lateral injection test. Perhaps higher torques become non-linear, need to plot more data.
rivian.3d.torque.mp4