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Toyota: hybrids release brakes when coming to a stop #1632

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sshane opened this issue Jan 13, 2025 · 1 comment
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Toyota: hybrids release brakes when coming to a stop #1632

sshane opened this issue Jan 13, 2025 · 1 comment

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@sshane
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sshane commented Jan 13, 2025 •
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Looks like the internal calculation for how to blend motor torque and friction brakes is off for Toyota under unknown circumstances when coming to a stop, because this is relatively common.

This is similar to Ford long control which doesn't account for engine creep force, and we needed a constant offset at low speeds, but this might require something a little more complicated. This is also the cause of jerky braking near zero for hybrid Toyotas (for human driving and openpilot driving)

image

Prius TSS2: 1d5211a9795b6ec2/000000ff--c9b3e4114c/5
@sshane sshane added this to the openpilot 0.9.8 milestone Jan 13, 2025
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sshane commented Jan 15, 2025

Duplicate of #1510

@sshane sshane marked this as a duplicate of #1510 Jan 15, 2025
@sshane sshane closed this as completed Jan 15, 2025
@sshane sshane closed this as not planned Won't fix, can't repro, duplicate, stale Jan 15, 2025
@sshane sshane removed this from the openpilot 0.9.8 milestone Jan 15, 2025
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