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Toyota: Prolonged low speed lateral oscillation

See original GitHub issue

Describe the bug

This is an instance of steering oscillation commonly experienced when driving tssp corolla at low speeds (20->35mph).

https://user-images.githubusercontent.com/3820605/186998526-4404dbbe-1ecd-45ef-bbab-e99b05373967.mp4

(segment 9)

segments 10 and 11 also display oscillating torque output/steering angle.

Which car does this affect?

Toyota Corolla 2017

Provide a route where the issue occurs

a152dad3c3368320|2022-08-26–15-36-30–9

openpilot version

38eb19bf04a5b6498cc38377796134205f0ee725

Additional info

latcontrol torque error equations

setpoint = desired_curvature * vego^2 + desired_curvature * low_speed_factor
setpoint = desired_curvature * (vego^2 + low_speed_factor)
measurement = actual_curvature * (vego^2 + low_speed_factor)

==>

error = (desired_curvature - actual_curvature) * (vego^2 + low_speed_factor)

error is difference in curvature multiplied by vego^2 + low_speed_factor

graph of `vego^2 + low_speed_factor`

https://www.wolframalpha.com/input?i=y+%3D+piecewise[{{500%2C+x+<+10}%2C+{800+-+30x%2C+x+<+20}%2C+{200%2C+x+>+20}}]+%2B+x^2

y = piecewise[{{500, x < 10}, {800 - 30x, x < 20}, {200, x > 20}}] + x^2

Issue Analytics

State:
Created a year ago
Comments:6 (6 by maintainers)

Top GitHub Comments

3reactions

sshanecommented, Aug 26, 2022

Loving the use of the clipping feature!

0reactions

ntegan1commented, Nov 29, 2022

Is this still an issue?

Missed this. Much better!

Torque control is so good

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