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Reject alternating Hyundai steering torque noise #418

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Merged
janpoo6427 merged 1 commit into from
Jun 29, 2026
Merged

Reject alternating Hyundai steering torque noise #418

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19 changes: 12 additions & 7 deletions opendbc_repo/opendbc/car/hyundai/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -272,21 +272,26 @@ def update(self, CC, CS, now_nanos):
self.recovering_from_override = True

torque_threshold = max(self.params.STEER_THRESHOLD, 1.0)
driver_torque_abs = abs(float(CS.out.steeringTorque))
# Filter signed torque so alternating sensor noise cancels out before its
# magnitude is used for pre-override prediction.
driver_torque = float(CS.out.steeringTorque)
driver_torque_abs = abs(driver_torque)
if not CC.latActive:
self.driver_torque_filtered = driver_torque_abs
self.driver_torque_filtered_prev = driver_torque_abs
self.driver_torque_filtered = driver_torque
self.driver_torque_filtered_prev = driver_torque
self.pre_override_frames = 0
else:
torque_filter_alpha = DT_CTRL / (DRIVER_TORQUE_FILTER_TAU + DT_CTRL)
self.driver_torque_filtered_prev = self.driver_torque_filtered
self.driver_torque_filtered += torque_filter_alpha * (driver_torque_abs - self.driver_torque_filtered)
self.driver_torque_filtered += torque_filter_alpha * (driver_torque - self.driver_torque_filtered)

driver_torque_rate = max(0.0, (self.driver_torque_filtered - self.driver_torque_filtered_prev) / DT_CTRL)
torque_ratio = self.driver_torque_filtered / torque_threshold
driver_torque_filtered_abs = abs(self.driver_torque_filtered)
driver_torque_filtered_prev_abs = abs(self.driver_torque_filtered_prev)
driver_torque_rate = max(0.0, (driver_torque_filtered_abs - driver_torque_filtered_prev_abs) / DT_CTRL)
torque_ratio = driver_torque_filtered_abs / torque_threshold
raw_torque_ratio = driver_torque_abs / torque_threshold
predicted_torque_ratio = (
self.driver_torque_filtered + driver_torque_rate * PRE_OVERRIDE_PREDICTION_TIME
driver_torque_filtered_abs + driver_torque_rate * PRE_OVERRIDE_PREDICTION_TIME
) / torque_threshold
pre_override_candidate = (
CC.latActive and
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