KO CustomSteerRatioRatex0.01(100) - ajouatom/openpilot GitHub Wiki

CustomSteerRatioRatex0.01(100)

๋ฉ”๋‰ด: ์ฃผํ–‰ ์ œ์–ด > ์ฐจ๋Ÿ‰ ์กฐํ–ฅ > ์กฐํ–ฅ๊ฐ


CustomSteerRatioRatex0.01(100)

SteerRatioRate

LiveSteerRatio ๋ฐ˜์˜๋น„์œจ (CustomSR 0์œผ๋กœ ์„ค์ •ํ•ด์•ผ ํ•จ)

  • ์ข…๋ฅ˜: ์ˆซ์ž
  • ๊ธฐ๋ณธ๊ฐ’: 100%
  • ๋ฒ”์œ„: 30% ~ 200%
  • ๋ณ€๊ฒฝ ๋‹จ์œ„: 1
  • ํ‘œ์‹œ ๋‹จ์œ„: %
  • ๋ฉ”๋‰ด: ์ฃผํ–‰ ์ œ์–ด > ์ฐจ๋Ÿ‰ ์กฐํ–ฅ > ์กฐํ–ฅ๊ฐ

๋™์ž‘

LiveSteerRatio ๋ฐ˜์˜๋น„์œจ / (CustomSR 0์œผ๋กœ ์„ค์ •ํ•ด์•ผ ํ•จ).

  • ๊ฐ’์„ ๋†’์ด๋ฉด: ํ•™์Šต ์กฐํ–ฅ๋น„์— ์ ์šฉํ•˜๋Š” ๋ฐฐ์œจ์ด ์ปค์ง‘๋‹ˆ๋‹ค.
  • ๊ฐ’์„ ๋‚ฎ์ถ”๋ฉด: ํ•™์Šต ์กฐํ–ฅ๋น„ ๋ฐฐ์œจ์ด ์ž‘์•„์ง‘๋‹ˆ๋‹ค.

VW MEB(ID.4 ํฌํ•จ)์—๋„ ์ ์šฉ๋˜๋ฉฐ, ์ˆ˜๋™ ์กฐํ–ฅ๋น„๊ฐ€ ์„ ํƒ๋˜๋ฉด ์ด ๋น„์œจ์€ ์‚ฌ์šฉํ•˜์ง€ ์•Š์Šต๋‹ˆ๋‹ค. ํ—ˆ์šฉ ๋ฒ”์œ„๋ฅผ ๋ฒ—์–ด๋‚œ ์ €์žฅ ๋น„์œจ์€ ํ•™์Šต๊ฐ’์„ ๊ทธ๋Œ€๋กœ ์‚ฌ์šฉํ•˜๋Š” ๋น„์œจ๋กœ ๋Œ€์ฒดํ•ฉ๋‹ˆ๋‹ค.

์‚ฌ์šฉ

๊ฐ™์€ ์ง์„ ๊ณผ ์™„๋งŒํ•œ ์ปค๋ธŒ์—์„œ ํ•œ ํ•ญ๋ชฉ์”ฉ ์ž‘์€ ๋‹จ๊ณ„๋กœ ๋ณ€๊ฒฝํ•˜๊ณ , ์ง€์—ฐยท์ง„๋™ยท์šด์ „์ž ๊ฐœ์ž… ํ›„ ๋ณต๊ท€๋ฅผ ํ™•์ธํ•ฉ๋‹ˆ๋‹ค.

์ด์ „์— ID.4์—์„œ ๋ฌด์‹œ๋˜๋˜ ์ €์žฅ๊ฐ’๋„ ์—…๋ฐ์ดํŠธ ํ›„ ์ ์šฉ๋ฉ๋‹ˆ๋‹ค. ํ•™์Šต ์กฐํ–ฅ๋น„๋ฅผ ๊ทธ๋Œ€๋กœ ์‚ฌ์šฉํ•˜๋ ค๋ฉด CustomSR=0, SteerRatioRate=100%๋กœ ์„ค์ •ํ•ฉ๋‹ˆ๋‹ค.

์ฐธ๊ณ 

[!IMPORTANT] CustomSR์ด 0์ผ ๋•Œ๋งŒ ํ•™์Šต๋œ ์กฐํ–ฅ๋น„์— ์ด ๋ฐฐ์œจ์ด ์ ์šฉ๋ฉ๋‹ˆ๋‹ค.