honda: tune N-BOX kp/ki, split from Insight - #3711
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kp/ki were a straight copy from HONDA_INSIGHT and never tuned for this much lighter kei car, causing overshoot/oscillation. Binning drive logs by vEgo showed city-speed driving is consistently the hardest to track (18-36km/h |angleError| median 1.46deg/p90 12deg vs 36-54km/h 0.81/3.71deg vs 54-72km/h 0.39/0.98deg). Tapering kp/ki down with speed reduced oscillation while improving low-speed tracking, validated across multiple on-road drives.
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 154 segments for: HONDA_ACCORD, HONDA_CIVIC_BOSCH, HONDA_CIVIC_2022, HONDA_CRV_5G, HONDA_CRV_HYBRID, HONDA_HRV_3G, HONDA_INSIGHT, HONDA_E, HONDA_PILOT_4G, HONDA_CRV, HONDA_FIT, HONDA_FREED, HONDA_HRV, HONDA_ODYSSEY, HONDA_PILOT, HONDA_RIDGELINE, HONDA_CIVIC ✅ 0 changed, 154 passed, 0 errors |
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Summary
HONDA_NBOX_2Gshared its lateral PID gains withHONDA_INSIGHT(kp=0.6, ki=0.18), a much heavier hybrid sedan. On-road testing on an actual N-BOX showed overshoot/oscillation with those flat gains.Binning drive logs by vEgo showed tracking error and output usage both drop steadily as speed rises:
| speed | |angleError| median | |angleError| p90 |
|---|---|---|
| 18-36 km/h | 1.46 deg | 12.0 deg |
| 36-54 km/h | 0.81 deg | 3.71 deg |
| 54-72 km/h | 0.39 deg | 0.98 deg |
City-speed driving is consistently the hardest to track. Tapering kp/ki down with speed (kp 0.30->0.20, ki 0.09->0.06 between 36-72km/h) measurably reduced oscillation (output sign-flip rate, angleError stddev) while improving low-speed tracking (p90 error roughly halved in the 18-36km/h band), across multiple on-road test drives on the same car, without touching the already-comfortable higher-speed behavior.
Validation
(WIP: recording a clean, dedicated verification route without unrelated personal driving data. Will fill in before marking ready for review.)
Test plan