From b290bc83bfd5f97e2bd49d0aad7bbf93bd02c224 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Oct 2024 20:03:06 -0700 Subject: [PATCH] more context --- opendbc/car/ford/values.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/opendbc/car/ford/values.py b/opendbc/car/ford/values.py index a36631cc0f..0b6e2f2fed 100644 --- a/opendbc/car/ford/values.py +++ b/opendbc/car/ford/values.py @@ -25,9 +25,10 @@ class CarControllerParams: STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits - # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction - # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph - # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + # Max curvature is limited by the EPS to an equivalent of ~2.0 m/s^2 at all speeds, + # however max curvature rate linearly decreases as speed increases: + # ~0.009 m^-1/sec at 10 m/s, ~0.002 m^-1/sec at 35 m/s + # Limit to ~2.7 m/s^3 up, ~3.26 m/s^3 down at 75 mph ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000375, 0.000125]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000375, 0.00015]) CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s