Custom lane keep assist PID tuning - Page 4 - Subaru Outback - Subaru Outback Forums
View Poll Results: Does this scare you or is it the future?
Yes 11 26.83%
This is the future 30 73.17%
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post #31 of 61 (permalink) Old 08-19-2018, 04:49 PM
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Originally Posted by bugsy924 View Post
It already does and video is sent to comma.ai (available privately). Since it's open source, you can have it not record or not upload

This is great, really interested to see how it develops.

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post #32 of 61 (permalink) Old 08-23-2018, 07:20 PM Thread Starter
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This is great, really interested to see how it develops.
Thanks! It works great at under 30kph but anything above and over 20s it starts becoming a bit too twitchy. Hopefully this weekend will be the last of the tuning

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post #33 of 61 (permalink) Old 08-24-2018, 09:45 AM
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Eagerly waiting to see the results. I would this for interstate driving.


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post #34 of 61 (permalink) Old 08-24-2018, 11:28 PM
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As I drive my '18 Outback with lane assist on, the lane markers on either side disappear often and as a result, there are lots of time where there is no lane assist on one side. I wonder why if there is a lane marker on one side and most lanes of traffic are of a similar width, why lane assist can't use the lane marker on one side to figure where the lane should be on the other?
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post #35 of 61 (permalink) Old 08-26-2018, 12:25 PM
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awaiting results
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post #36 of 61 (permalink) Old 08-29-2018, 11:34 AM Thread Starter
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getting there
it seems the actuator is "sticky" so it'll never be silky smooth
ATM I have the torque limited so it doesn't react very quickly, it'll get better in the next few weeks. Hoping to get it nicely polished by the end of September. I underestimated the amount of effort it take to tune the steering

Video description:
10x speed with traffic trimmed out
Airport to UOW
Skip to 2:00 to get out of the city.

This is still very preliminary and requires a lot of tuning.
Intervention is required for sharper turns where the actuator stickiness delays steering input.
Currently also facing a bug where steering disables under 36km/h (actual limit is 10km/h).
Search for other openpilot videos for better examples.
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Last edited by bugsy924; 08-29-2018 at 12:02 PM. Reason: Added video description
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post #37 of 61 (permalink) Old 08-29-2018, 12:30 PM
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Originally Posted by bugsy924 View Post
getting there
it seems the actuator is "sticky" so it'll never be silky smooth
ATM I have the torque limited so it doesn't react very quickly, it'll get better in the next few weeks. Hoping to get it nicely polished by the end of September. I underestimated the amount of effort it take to tune the steering

Video description:
10x speed with traffic trimmed out
Airport to UOW
Skip to 2:00 to get out of the city.

This is still very preliminary and requires a lot of tuning.
Intervention is required for sharper turns where the actuator stickiness delays steering input.
Currently also facing a bug where steering disables under 36km/h (actual limit is 10km/h).
Search for other openpilot videos for better examples.
Very Nice! Hey, Gotta start somewhere right?
If you hadn't dimmed down the steering update then it looked like it would've swung you into another lane! Slowed down the footage and it looked like the steering was bouncing you back and forth between the lane markers.
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post #38 of 61 (permalink) Old 08-29-2018, 01:59 PM
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Quote:
Originally Posted by bugsy924 View Post
https://www.youtube.com/watch?v=JIfp0yfLAqA&t=2m
getting there
it seems the actuator is "sticky" so it'll never be silky smooth
ATM I have the torque limited so it doesn't react very quickly, it'll get better in the next few weeks. Hoping to get it nicely polished by the end of September. I underestimated the amount of effort it take to tune the steering

Video description:
10x speed with traffic trimmed out
Airport to UOW
Skip to 2:00 to get out of the city.

This is still very preliminary and requires a lot of tuning.
Intervention is required for sharper turns where the actuator stickiness delays steering input.
Currently also facing a bug where steering disables under 36km/h (actual limit is 10km/h).
Search for other openpilot videos for better examples.
Is the "stickiness" inherent to the power assist system? I assume if it is, then it is whatever style encoder that is used. If so, I wonder if (with more hardware) it could be further smoothed with a new, increased resolution encoder?


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post #39 of 61 (permalink) Old 08-29-2018, 09:32 PM Thread Starter
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Originally Posted by 3.6r Limited View Post
Very Nice! Hey, Gotta start somewhere right?
If you hadn't dimmed down the steering update then it looked like it would've swung you into another lane! Slowed down the footage and it looked like the steering was bouncing you back and forth between the lane markers.
It'll stay within the lanes and turn corners if I increase the proportional value of the PIF tune. However, it would then drive like a snake between said lanes.

In this config, it's not noticeably bouncy. It corrects itself about as much as a person would. Each correction is about 2s apart in a straight line. I do hope to smooth this out more

Quote:
Originally Posted by 1454 View Post
Is the "stickiness" inherent to the power assist system? I
assume if it is, then it is whatever style encoder that is used. If so, I wonder if (with more hardware) it could be further smoothed with a new, increased resolution encoder?
It's the actual actuator and I don't know why it's sticking. The angle sensor goes down to 0.1 degrees which is plenty. Each movement in a straight line is between 0.5-1 degree of steering wheel rotatio
It sticks for about 0.5s then is very responsive once it's moving, only 0.1s lag between the steer request and movement of the wheel
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post #40 of 61 (permalink) Old 10-04-2018, 02:00 PM
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Originally Posted by bugsy924 View Post
It'll stay within the lanes and turn corners if I increase the proportional value of the PIF tune. However, it would then drive like a snake between said lanes.

In this config, it's not noticeably bouncy. It corrects itself about as much as a person would. Each correction is about 2s apart in a straight line. I do hope to smooth this out more
BUGSY I know it has been a while, have you had any developments on this?
Is there anything we can do?



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