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jyoung8607 / openpilot

open source driving agent
MIT License
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VW stops steering after same torque value for > 6 seconds #10

Closed jyoung8607 closed 5 years ago

jyoung8607 commented 5 years ago

The VW steering firmware appears to have a stuck-torque safety detection that cancels HCA steering intervention if it receives exactly the same torque value for 6 seconds. Right now, this manifests as a critical LKAS disengagement for OP when "helping" OP around a curve it can't handle on its own. Need to introduce some slight noise at capped points, definitely at 3.00nm, and possibly ditch the 1.00nm cap we're applying on steering-pressed detection, potentially going to turn signal detection instead.

jyoung8607 commented 5 years ago

Resolved in 25bcd8f3247cb603d335b87725a0590c3f7622f3 in preparation for upstream.