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opgm / openpilot

GM openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 100 supported car makes and models.
https://standbacklabs.com
MIT License
57 stars 37 forks source link

Bolt longitudinal PID tuning, safer stop & go, faster resume from stop #91

Closed kliu128 closed 1 year ago

kliu128 commented 1 year ago

Adjusts the PID values, longitudinal MPC parameters, and adds a slightly modified commit from the toyota openpilot fork to improve starting from a stop.

Do note that this works well for me on my 2022 Chevy Bolt LT, but I'm not sure how to scope the long_mpc modifications per car. Have not tested on an EUV or any other opgm supported vehicles. Happy to add this but not sure exactly how to do so.

The last commit is a bit more involved/is pulled from another fork, so if you think it shouldn't be merged, happy to drop it from this pr.

morrislee commented 1 year ago

the voacc data is still not very accurate in some aspects. I have found that the relative acceleration is not accurate, distance and vlead speed is very noisy. We need these data to be more accurate before we can assume the changes in planner and mpc will be a desirable outcome. jyoung also found the voacc data, even after calibration using wheel speed to transpose[0] is still showing lead having a negative bias. We will have to wait for a better model for this to be validated

nworb-cire commented 1 year ago

@kliu128 thanks for the PR. Somehow I wasn't watching this repo, so didn't get notified of it. I've switched development paradigms since having multiple feature branches + submodules turned out to be unmaintainable. I'm going to change the target branch for this PR to dev and work to get it in.

nworb-cire commented 1 year ago

I've cherry-picked the new tune onto dev. Hopefully the recent upstream lead estimation changes, in conjunction with driving personality, obviate the need for the other MPC changes. (I'd like to keep the MPCs as close to stock as possible anyway.)