How to Update Vehicle Calibration for Throttle and Brakes
The purpose of vehicle calibration is to find the throttle and brake commands that accurately produce the amount of acceleration requested from the control module.
Preparation consists of the following task sequence:
- Gain access to the relevant code.
- Change the driving mode.
- Select the testing site.
Gain Access to the Relevant Code
- Canbus, which includes modules for:
- GPS Driver
Change the Driving Mode
Set the driving mode in
Select the Testing Site
The preferred testing site is a long flat road.
Update the Vehicle Calibration
After preparation, complete the following task sequence from
- Collect data.
- Process data.
- Plot results.
- Convert results to
python data_collector.pyfor different commands, commands like x y z, where x is acceleration command, y is speed limit(mps), z is decceleration command,Positive number for throttle and negative number for brake.Run each command multiple times.
- Adjust the command script based on the vehicle response.
python plot_data.pyto open recorded data and visualize collected data.
15 5.2 -10, will create and record a file named
process_data.sh on each recorded log individually. data log is processed to
python plot_results.py t15b-10r0.csv.result to visualize final results. Check for any abnormality.
Convert Results to
If everything looks good, run
result2pb.sh to move calibration results to
protobuf defined for the control module.