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jyoung8607 / openpilot

open source driving agent
MIT License
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Cherokee KL - PID Lateral Tested, Reduced MinSteer Tested #112

Closed ngk0 closed 5 months ago

ngk0 commented 6 months ago

Miles544 on Comma Discord

Description: Added PID-based lateral tuning for Cherokee KL Port Fork. PID Parameters match other Chrysler / Jeeps for now. Kf slightly modified. Disabled Chrysler "High Min Steer Speed" flag, not a focus of testing.

Tested: 2019 Cherokee KL w/ Prem. Tech Pkg. (ACC, LKAS, Park Assist)

Routes:

  1. 39180e809b48857f/2024-04-02--07-31-25/13
  2. 39180e809b48857f/2024-04-01--19-54-28/5

Notes:

  1. PID Lateral works well, keeps center of lane.
  2. No faults of any kind.

Priorities:

  1. Port accepted by upstream (OP Main)
  2. Explore steering torque limit
  3. White Panda Mod testing <39mph
github-actions[bot] commented 6 months ago

It looks like you didn't use one of the Pull Request templates. Please check the contributing docs. Also make sure that you didn't modify any of the checkboxes or headings within the template.

ngk0 commented 6 months ago

@jyoung8607 I don't know how to use the PR template or even if it applies for what we're doing. Please let me know. Miles544 on Discord.

jyoung8607 commented 5 months ago

Thank you for testing this! Bringing the Chrysler port current with upstream master involved refactoring the way a lot of parameters are set, so while I'm adopting the suggested PIF tune, I've done so manually instead of merging this PR.