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Lexus ES TSS2: fix brake undershooting #1306

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@sshane sshane commented Sep 30, 2024

  • Find a signal that describes why sometimes it overreports aEgo on flat ground
  • Or model the PCM compensation response and implement a feedforward solution using no PCM feedback
  • Or just disable PCM compensation for (heavy) braking

Sometimes this happens below. The pitch was just 2 degrees, but that would actually cause more braking than necessary, this is less braking than necessary by almost 1 m/s^2.

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@sshane sshane added bug car related to opendbc/car/ toyota labels Sep 30, 2024
@sshane sshane marked this pull request as draft September 30, 2024 23:30
@sshane sshane changed the title Lexus ES: fix brake undershooting Lexus ES TSS2: fix brake undershooting Oct 1, 2024
@sshane sshane closed this Oct 9, 2024
@sshane sshane deleted the lexus-undershooting branch October 9, 2024 21:44
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