j_egoの計算ミスが修正された。これで公式を試し、問題ないならこちらにも反映する？

Merge commit 'cc30feb6fbb86b0601a1838f0325f389e78c423d'
programanichiro · Dec 7, 2024 · 60919dd · 60919dd
2 parents cb5299a + cc30feb
commit 60919dd
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -297,7 +297,7 @@ def update(self, CC, CS, now_nanos):
         # wind down integral when approaching target for step changes and smooth ramps to reduce overshoot
         prev_aego = self.aego.x
         self.aego.update(a_ego_blended)
-        j_ego = (self.aego.x - prev_aego) / DT_CTRL
+        j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
         a_ego_future = a_ego_blended + j_ego * 0.5
 
         if actuators.longControlState == LongCtrlState.pid: