Honda Bosch - live-learning gas pedal tuning #3014
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This PR updates Honda Bosch gas control.
Honda Bosch A & C ACC uses a m/s2 deceleration command for brake, but uses gas-pedal-position command for acceleration.
Three different adjustments are needed to properly calculate what gas-pedal-position will result in a target acceleration.
Pitch/hill adjustment - This is a trigonometry calculation, mimicking the calculation used by Ford/Toyota
Wind drag adjustment - Wind drag for an average car is calculated here. However this can vary based on car shape, elevation, air density, and wind. Thus a live-learning factor is introduced to update the value used in the calculation.
Pedal-to-force mapping - 80% of Honda's use a linear mapping of pedal position to force. However, certain cars have physical or artificial reasons where this was not programmed linearly by Honda. For example, the CVT Honda Accord creates simulated gearshifts to "feel" like a regular automatic transmission and the factor changes per simulated gear, and the Acura RDX has increased force when the turbocharger spools up. Thus a live-learning factor quickly reacts to changing mapping ratios, the factor was tuned to react in approximately 1 second to changes, to behave like a human driver would react.
This logic has been added to all my custom forks that are widely used by many Honda drivers, and has been in place since December 12. The actuators.accel vs aEgo match is near perfect in plotjuggler curves for all tested Bosch A and C cars, after a few minutes of learning. Driver feedback is that this is a night and day improvement vs existing Honda Bosch long-alpha control.
I'm happy to ask testdrivers to provide whatever testlogs are needed by comma to validate this change. Please advise which logs to request.