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C3_TEST在controlsd.py加入FLKA後CC.latActive的啟動條件內容有誤 #1

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henryccy opened this issue Jul 12, 2023 · 0 comments

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@henryccy
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henryccy commented Jul 12, 2023

在 c3_test 的 controlsd.py 裡,STOCK OP 的 CC.latActive 是用satndstill判斷是否可啟用(586行),該值有依照最低橫向啟動的速度做了限制(585行),接下來小P大的FLKA啟動橫向條件裡(666行-669行),CC.availableVagFlka 的TRUE條件卻是用CS.standstill(679行),這樣會導致 CC.latActive 也會在車速低於最低橫向啟動速度時啟動,就會導致橫向控制失效,因此679行應該改為and not standstill)),此修改有測試過已無在極低速度下橫向會失效的問題,以上請參考。

@henryccy henryccy changed the title 在controlsd.py加入FLKA後CC.latActive的啟動條件內容有誤 C3_TEST在controlsd.py加入FLKA後CC.latActive的啟動條件內容有誤 Jul 12, 2023
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