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torqued: some Toyotas have non-linear steer response

Open sshane opened this issue 9 months ago • 1 comments

torqued should support this, GM has a custom non-linear function we apply to get it to steer decently which we should learn in torqued

offline torqued converges to 2 m/s^2: https://connect.comma.ai/1c838f873b4165bb/00000035--fa8bf6aa14

Image

same car but shorter route with less turns: offline torqued converges to 1 m/s^2: https://connect.comma.ai/1c838f873b4165bb/00000008--2db61ffba7

sshane avatar Mar 13 '25 07:03 sshane

I also am noticing this non-linear response on my Camry. On Jan 23 torqued was using much higher values (similar to offline values in the toml file), but now they've dropped significantly, and I'm overshooting turns (left is Jan 23, right is today)

Image

https://connect.comma.ai/d9b97c1d3b8c39b2/00000020--177f5572ab vs https://connect.comma.ai/d9b97c1d3b8c39b2/00000087--e7e2e0f104/353/381

sshane avatar Mar 16 '25 07:03 sshane